guidance_energy

Energy based vertical control for fixedwing aircraft. Airspeed sensor is mandatory for this controller.

Section VERTICAL CONTROL
V_CTL_
Name	Value	Description
POWER_CTL_BAT_NOMINAL	11.1	nominal battery voltage in cruise flight
ALTITUDE_PGAIN	0.1	altitude loop P gain
ALTITUDE_MAX_CLIMB	5.	max climb rate
AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE	0.3	nominal throttle for cruise flight
AUTO_THROTTLE_NOMINAL_CRUISE_PITCH	0.	nominal pitch angle for cruise flight
AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT	0.1	feedforward throttle gain
AUTO_THROTTLE_PITCH_OF_VZ_PGAIN	0.15	feedforward pitch gain
AIRSPEED_PGAIN	0.	airspeed P gain
AUTO_THROTTLE_OF_AIRSPEED_PGAIN	0.069	throttle P gain
AUTO_THROTTLE_OF_AIRSPEED_IGAIN	0.01	throttle I gain
AUTO_PITCH_OF_AIRSPEED_PGAIN	0.01	pitch P gain
AUTO_PITCH_OF_AIRSPEED_IGAIN	0.003	pitch I gain
AUTO_PITCH_OF_AIRSPEED_DGAIN	0.03	pitch D gain
ENERGY_TOT_PGAIN	0.	total energy P gain
ENERGY_TOT_IGAIN	0.	total energy I gain
ENERGY_DIFF_PGAIN	0.	differential energy P gain
ENERGY_DIFF_IGAIN	0.	differential energy I gain
AUTO_GROUNDSPEED_SETPOINT	6.0	default ground speed setpoint
AUTO_GROUNDSPEED_PGAIN	0.75	ground speed P gain
AUTO_GROUNDSPEED_IGAIN	0.25	ground speed I gain
THROTTLE_SLEW_LIMITER	1	throttle slew rate limiter

Depends