th_gains
Purpose:
-
Set the proportional, integral, and derivative gains for the throttle controller.
Enter:
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th_gains <proportional_gain> <integral_gain> <derivative_gain> [+s] [m=control_mode]
Where:
-
proportional_gain
Specify the desired Proportional gain value for the throttle controller.
integral_gain
Specify the desired Integral gain value for the throttle controller.
derivative_gain
Specify the desired Derivative gain value for the throttle controller.
+s
Optional. Specify this flag to indicate the gains should be written to the ctrl_specs.NNN file.
m=control_mode
Optional. Specify the target engine control mode (as gains are specific to each mode):
1 => THROT_SPEED
2 => THROT_SPEED
3 => THROT_SPEED
4 => THROT_GROSS_TORQUE
5 => THROT_NET_TORQUE
6 => THROT_OTHER
Example:
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th_gains .08 .003 .02
The above command sets the gains of the throttle controller to:
Proportional gain = .08
Integral gain = .003
Derivative gain = .02
Notes:
-
The program checks that all gains have the same sign and prompts for confirmation. If not, ensure values are appropriate for the current control mode.