No detailed description...
These initialization functions are called once on startup.
<!DOCTYPE module SYSTEM "module.dtd">
<module name="stabilization_rate" dir="stabilization" task="control">
<doc>
<description>
Rate controller for rotorcraft
</description>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="300" description="max roll rate setpoint" unit="deg/s"/>
<define name="SP_MAX_Q" value="300" description="max pitch rate setpoint" unit="deg/s"/>
<define name="SP_MAX_R" value="240" description="max yaw rate setpoint" unit="deg/s"/>
<define name="DEADBAND_P" value="20" description="deadband on roll rate"/>
<define name="DEADBAND_Q" value="20" description="deadband on pitch rate"/>
<define name="DEADBAND_R" value="200" description="deadband on yaw rate"/>
<define name="GAIN_P" value="1000" description="feedback P roll rate gain"/>
<define name="GAIN_Q" value="1000" description="feedback P pitch rate gain"/>
<define name="GAIN_R" value="800" description="feedback P yaw rate gain"/>
<define name="IGAIN_P" value="75" description="feedback I roll rate gain"/>
<define name="IGAIN_Q" value="75" description="feedback I pitch rate gain"/>
<define name="IGAIN_R" value="50" description="feedback I yaw rate gain"/>
</section>
</doc>
<settings target="ap|nps">
<dl_settings>
<dl_settings NAME="Rate Loop">
<dl_setting var="stabilization_rate_gain.p" min="1" step="1" max="1000" shortname="pgain p" param="STABILIZATION_RATE_GAIN_P" type="int32" persistent="true" module="stabilization/stabilization_rate"/>
<dl_setting var="stabilization_rate_gain.q" min="1" step="1" max="1000" shortname="pgain q" param="STABILIZATION_RATE_GAIN_Q" type="int32" persistent="true"/>
<dl_setting var="stabilization_rate_gain.r" min="1" step="1" max="1000" shortname="pgain r" param="STABILIZATION_RATE_GAIN_R" type="int32" persistent="true"/>
<dl_setting var="stabilization_rate_igain.p" min="0" step="1" max="500" shortname="igain p" param="STABILIZATION_RATE_IGAIN_P" type="int32" persistent="true"/>
<dl_setting var="stabilization_rate_igain.q" min="0" step="1" max="500" shortname="igain q" param="STABILIZATION_RATE_IGAIN_Q" type="int32" persistent="true"/>
<dl_setting var="stabilization_rate_igain.r" min="0" step="1" max="500" shortname="igain r" param="STABILIZATION_RATE_IGAIN_R" type="int32" persistent="true"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>stabilization_rotorcraft</depends>
<provides>commands</provides>
</dep>
<header>
<file name="stabilization_rate.h"/>
</header>
<init fun="stabilization_rate_init()"/>
<makefile target="ap|nps" firmware="rotorcraft">
<file name="stabilization_rate.c" dir="$(SRC_FIRMWARE)/stabilization"/>
<define name="USE_STABILIZATION_RATE"/>
</makefile>
</module>