Cleanup airframes: make test_all_confs (#3217)

paparazzi · Dec 18, 2023 · 94c79d4 · 94c79d4
1 parent 5fd7d56
commit 94c79d4
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Showing 89 changed files with 310 additions and 245 deletions.
diff --git a/conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml b/conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml
@@ -91,13 +91,14 @@ Aggie Air ARK
   </section>
 
   <command_laws>
+    <!-- Use SERVO_FRONT_IDX to know the actuators array number, and user SERVO_FRONT_DRIVER_NO to use the xx-value defined in servo no="xx" -->
     <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="FRONT_RIGHT" value="motor_mixing.commands[SERVO_FRONT_RIGHT]"/>
-    <set servo="BACK_RIGHT"   value="motor_mixing.commands[SERVO_BACK_RIGHT]"/>
-    <set servo="BACK"    value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="BACK_LEFT"  value="motor_mixing.commands[SERVO_BACK_LEFT]"/>
-    <set servo="FRONT_LEFT"   value="motor_mixing.commands[SERVO_FRONT_LEFT]"/>
+    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT_IDX]"/>
+    <set servo="FRONT_RIGHT" value="motor_mixing.commands[SERVO_FRONT_RIGHT_IDX]"/>
+    <set servo="BACK_RIGHT"   value="motor_mixing.commands[SERVO_BACK_RIGHT_IDX]"/>
+    <set servo="BACK"    value="motor_mixing.commands[SERVO_BACK_IDX]"/>
+    <set servo="BACK_LEFT"  value="motor_mixing.commands[SERVO_BACK_LEFT_IDX]"/>
+    <set servo="FRONT_LEFT"   value="motor_mixing.commands[SERVO_FRONT_LEFT_IDX]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">

diff --git a/conf/airframes/AGGIEAIR/aggieair_conf.xml b/conf/airframes/AGGIEAIR/aggieair_conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/AGGIEAIR/aggieair_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
    settings="settings/rotorcraft_basic.xml settings/nps.xml"
-   settings_modules="modules/battery_monitor.xml modules/gps.xml modules/stabilization_float_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml"
+   settings_modules="modules/battery_monitor.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/stabilization_float_euler.xml"
    gui_color="#ffff954c0000"
   />
   <aircraft

diff --git a/conf/airframes/BR/bebop_indi.xml b/conf/airframes/BR/bebop_indi.xml
@@ -171,9 +171,9 @@
     <define name="FILT_CUTOFF" value="8.0"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.1"/>
-    <define name="ACT_DYN_Q" value="0.1"/>
-    <define name="ACT_DYN_R" value="0.1"/>
+    <define name="ACT_FREQ_P" value="53.9"/>
+    <define name="ACT_FREQ_Q" value="53.9"/>
+    <define name="ACT_FREQ_R" value="53.9"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>

diff --git a/conf/airframes/BR/bebop_indi_frog.xml b/conf/airframes/BR/bebop_indi_frog.xml
@@ -174,9 +174,9 @@
     <define name="FILT_CUTOFF" value="8.0"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.1"/>
-    <define name="ACT_DYN_Q" value="0.1"/>
-    <define name="ACT_DYN_R" value="0.1"/>
+    <define name="ACT_FREQ_P" value="53.9"/>
+    <define name="ACT_FREQ_Q" value="53.9"/>
+    <define name="ACT_FREQ_R" value="53.9"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>

diff --git a/conf/airframes/BR/conf.xml b/conf/airframes/BR/conf.xml
@@ -18,7 +18,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/switch_servo.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/stabilization_int_quat.xml modules/switch_servo.xml"
    gui_color="white"
   />
   <aircraft

diff --git a/conf/airframes/BR/ladybird_kit_indi_bart.xml b/conf/airframes/BR/ladybird_kit_indi_bart.xml
@@ -142,9 +142,9 @@
     <define name="FILT_CUTOFF" value="8.0"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.03"/>
-    <define name="ACT_DYN_Q" value="0.03"/>
-    <define name="ACT_DYN_R" value="0.03"/>
+    <define name="ACT_FREQ_P" value="15.6"/>
+    <define name="ACT_FREQ_Q" value="15.6"/>
+    <define name="ACT_FREQ_R" value="15.6"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>

diff --git a/conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml b/conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml
@@ -235,9 +235,9 @@
     <define name="FILT_CUTOFF" value="8.0"/>
     <define name="FILT_CUTOFF_RDOT" value="3.2"/>
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.03"/>
-    <define name="ACT_DYN_Q" value="0.03"/>
-    <define name="ACT_DYN_R" value="0.03"/>
+    <define name="ACT_FREQ_P" value="15.6"/>
+    <define name="ACT_FREQ_Q" value="15.6"/>
+    <define name="ACT_FREQ_R" value="15.6"/>
         <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="TRUE"/>
     <define name="ADAPTIVE_MU" value="0.0001"/>

diff --git a/conf/airframes/ENAC/conf_enac.xml b/conf/airframes/ENAC/conf_enac.xml
@@ -29,7 +29,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/ENAC/crazyflie_multi_ranger_test.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_madgwick.xml modules/air_data.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/opticflow_pmw3901.xml modules/range_forcefield.xml modules/sonar_vl53l1x.xml modules/stabilization_int_quat.xml"
+   settings_modules="modules/ahrs_madgwick.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/opticflow_pmw3901.xml modules/range_forcefield.xml modules/sonar_vl53l1x.xml modules/stabilization_int_quat.xml"
    gui_color="blue"
   />
   <aircraft

diff --git a/conf/airframes/ENAC/cyfoam.xml b/conf/airframes/ENAC/cyfoam.xml
@@ -157,6 +157,11 @@
   </servos>
 
   <commands>
+    <axis name="ELEVON_LEFT"  failsafe_value="0"/>
+    <axis name="ELEVON_RIGHT" failsafe_value="0"/>
+    <axis name="MOTOR_RIGHT"  failsafe_value="0"/>
+    <axis name="MOTOR_LEFT"   failsafe_value="0"/>
+
     <axis name="PITCH"  failsafe_value="0"/>
     <axis name="ROLL"   failsafe_value="0"/>
     <axis name="YAW"    failsafe_value="0"/>
@@ -234,7 +239,7 @@
     <define name="FILT_CUTOFF" value="5.0"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN" value="{0.1, 0.1, 0.045, 0.045}"/>
+    <define name="ACT_FREQ" value="{52.7, 52.7, 23.0, 23.0}"/>
     <define name="ACT_RATE_LIMIT" value="{170, 170, 9600, 9600}"/>
     <define name="ACT_IS_SERVO" value="{1, 1, 0, 0}"/>
 

diff --git a/conf/airframes/ENAC/hoops_gen_ap.xml b/conf/airframes/ENAC/hoops_gen_ap.xml
@@ -218,9 +218,9 @@
     <define name="REF_RATE_R" value="28.0"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
+    <define name="ACT_FREQ_P" value="31.7"/>
+    <define name="ACT_FREQ_Q" value="31.7"/>
+    <define name="ACT_FREQ_R" value="31.7"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>

diff --git a/conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml b/conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml
@@ -52,7 +52,7 @@
     </module>
     <module name="guidance" type="indi">
       <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
-      <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.03"/>
+      <define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="30.5"/>
       <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
     </module>
 
@@ -189,7 +189,7 @@
     <!--Counter torque effect of spinning up a rotor-->
     <define name="G2" value="{150.0,   -150.0,  150.0,   -150.0 }"/>
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN" value="{0.03, 0.03, 0.03, 0.03}"/>
+    <define name="ACT_FREQ" value="{30.5, 30.5, 30.5, 30.5}"/>
     <define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
 
     <!--Priority for each axis (roll, pitch, yaw and thrust)-->

diff --git a/conf/airframes/ENAC/quadrotor/bebop2_fish.xml b/conf/airframes/ENAC/quadrotor/bebop2_fish.xml
@@ -168,9 +168,9 @@
     <define name="FILT_CUTOFF_RDOT" value="3.2"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
+    <define name="ACT_FREQ_P" value="31.7"/>
+    <define name="ACT_FREQ_Q" value="31.7"/>
+    <define name="ACT_FREQ_R" value="31.7"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>

diff --git a/conf/airframes/ENAC/quadrotor/bebop2_fish_outdoor.xml b/conf/airframes/ENAC/quadrotor/bebop2_fish_outdoor.xml
@@ -170,9 +170,9 @@
     <define name="FILT_CUTOFF_RDOT" value="3.2"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
+    <define name="ACT_FREQ_P" value="31.7"/>
+    <define name="ACT_FREQ_Q" value="31.7"/>
+    <define name="ACT_FREQ_R" value="31.7"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>

diff --git a/conf/airframes/ENAC/quadrotor/crazyflie_2.1.xml b/conf/airframes/ENAC/quadrotor/crazyflie_2.1.xml
@@ -216,9 +216,9 @@
     <define name="FILT_CUTOFF_RDOT" value="8.0f"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.03149f"/>
-    <define name="ACT_DYN_Q" value="0.03149f"/>
-    <define name="ACT_DYN_R" value="0.03149f"/>
+    <define name="ACT_FREQ_P" value="16.4"/>
+    <define name="ACT_FREQ_Q" value="16.4"/>
+    <define name="ACT_FREQ_R" value="16.4"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>

diff --git a/conf/airframes/ENAC/quadrotor/kakute_f7.xml b/conf/airframes/ENAC/quadrotor/kakute_f7.xml
@@ -212,9 +212,9 @@
     <define name="FILT_CUTOFF_R" value="3.2"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
+    <define name="ACT_FREQ_P" value="31.7"/>
+    <define name="ACT_FREQ_Q" value="31.7"/>
+    <define name="ACT_FREQ_R" value="31.7"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>

diff --git a/conf/airframes/ENAC/quadrotor/robobee.xml b/conf/airframes/ENAC/quadrotor/robobee.xml
@@ -51,7 +51,7 @@
     <module name="guidance" type="indi">
       <define name="GUIDANCE_INDI_SPEED_GAIN" value="3.0"/>
       <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
-      <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.03"/>
+      <define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="15.6"/>
       <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
     </module>
 
@@ -202,7 +202,7 @@
     <!--Counter torque effect of spinning up a rotor-->
     <define name="G2"        value="{100, -100, 100, -100.0 }"/>
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN" value="{0.02, 0.02, 0.02, 0.02}"/>
+    <define name="ACT_FREQ" value="{10.3, 10.3, 10.3, 10.3}"/>
     <define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
 
     <!--Priority for each axis (roll, pitch, yaw and thrust)-->

diff --git a/conf/airframes/ENAC/quadrotor/ulysse_indi.xml b/conf/airframes/ENAC/quadrotor/ulysse_indi.xml
@@ -54,7 +54,7 @@
     </module>
     <module name="guidance" type="indi">
       <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
-      <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.03"/>
+      <define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="30.5"/>
       <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
     </module>
 
@@ -183,7 +183,7 @@
     <!--Counter torque effect of spinning up a rotor-->
     <define name="G2" value="{150.0,   -150.0,  150.0,   -150.0 }"/>
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN" value="{0.03, 0.03, 0.03, 0.03}"/>
+    <define name="ACT_FREQ" value="{30.5, 30.5, 30.5, 30.5}"/>
     <define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
 
     <!--Priority for each axis (roll, pitch, yaw and thrust)-->

diff --git a/conf/airframes/KS/ks_bebop2_stereo.xml b/conf/airframes/KS/ks_bebop2_stereo.xml
@@ -160,9 +160,9 @@
     <define name="FILT_CUTOFF" value="3.2"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
+    <define name="ACT_FREQ_P" value="31.7"/>
+    <define name="ACT_FREQ_Q" value="31.7"/>
+    <define name="ACT_FREQ_R" value="31.7"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>

diff --git a/conf/airframes/KS/ks_mavtec1.xml b/conf/airframes/KS/ks_mavtec1.xml
@@ -183,9 +183,9 @@
     <define name="FILT_CUTOFF_RDOT" value="3.2"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.03"/>
-    <define name="ACT_DYN_Q" value="0.03"/>
-    <define name="ACT_DYN_R" value="0.03"/>
+    <define name="ACT_FREQ_P" value="15.6"/>
+    <define name="ACT_FREQ_Q" value="15.6"/>
+    <define name="ACT_FREQ_R" value="15.6"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>

diff --git a/conf/airframes/MM/bebop2_lum1_xbee.xml b/conf/airframes/MM/bebop2_lum1_xbee.xml
@@ -185,9 +185,9 @@
     <define name="FILT_CUTOFF" value="3.2"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
+    <define name="ACT_FREQ_P" value="31.7"/>
+    <define name="ACT_FREQ_Q" value="31.7"/>
+    <define name="ACT_FREQ_R" value="31.7"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>

diff --git a/conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml b/conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml
@@ -505,9 +505,9 @@ The most crucial part for the magnetometer calibration:
     <define name="FILT_CUTOFF" value="3.2"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.04"/>
-    <define name="ACT_DYN_Q" value="0.04"/>
-    <define name="ACT_DYN_R" value="0.04"/>
+    <define name="ACT_FREQ_P" value="20.9"/>
+    <define name="ACT_FREQ_Q" value="20.9"/>
+    <define name="ACT_FREQ_R" value="20.9"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/> <!-- make true if all works -->

diff --git a/conf/airframes/OPENUAS/openuas_bitcraze_crazyflie_2_1.xml b/conf/airframes/OPENUAS/openuas_bitcraze_crazyflie_2_1.xml
@@ -273,9 +273,9 @@
     <define name="FILT_CUTOFF" value="8.0f"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.03149f"/>
-    <define name="ACT_DYN_Q" value="0.03149f"/>
-    <define name="ACT_DYN_R" value="0.03149f"/>
+    <define name="ACT_FREQ_P" value="16.4"/>/>
+    <define name="ACT_FREQ_Q" value="16.4"/>/>
+    <define name="ACT_FREQ_R" value="16.4"/>/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>

diff --git a/conf/airframes/OPENUAS/openuas_eachine_trashcan.xml b/conf/airframes/OPENUAS/openuas_eachine_trashcan.xml
@@ -392,9 +392,9 @@
         <define name="FILT_CUTOFF" value="5.0"/>
 
         <!-- first order actuator dynamics (indi_simple) -->
-        <define name="ACT_DYN_P" value="0.06"/>
-        <define name="ACT_DYN_Q" value="0.06"/>
-        <define name="ACT_DYN_R" value="0.06"/>
+        <define name="ACT_FREQ_P" value="31.7"/>
+        <define name="ACT_FREQ_Q" value="31.7"/>
+        <define name="ACT_FREQ_R" value="31.7"/>
 
         <!-- Adaptive Learning Rate -->
         <define name="USE_ADAPTIVE" value="TRUE"/>

diff --git a/conf/airframes/OPENUAS/openuas_emax_tinyhawk_ii.xml b/conf/airframes/OPENUAS/openuas_emax_tinyhawk_ii.xml
@@ -342,9 +342,9 @@
         <define name="FILT_CUTOFF" value="5.0"/>
 
         <!-- first order actuator dynamics (indi_simple) -->
-        <define name="ACT_DYN_P" value="0.06"/>
-        <define name="ACT_DYN_Q" value="0.06"/>
-        <define name="ACT_DYN_R" value="0.06"/>
+        <define name="ACT_FREQ_P" value="31.7"/>
+        <define name="ACT_FREQ_Q" value="31.7"/>
+        <define name="ACT_FREQ_R" value="31.7"/>
 
         <!-- Adaptive Learning Rate -->
         <define name="USE_ADAPTIVE" value="TRUE"/>

diff --git a/conf/airframes/OPENUAS/openuas_own_jetson_tx220.xml b/conf/airframes/OPENUAS/openuas_own_jetson_tx220.xml
@@ -388,9 +388,9 @@
         <define name="FILT_CUTOFF" value="5.0"/>
 
         <!-- first order actuator dynamics (indi_simple) -->
-        <define name="ACT_DYN_P" value="0.06"/>
-        <define name="ACT_DYN_Q" value="0.06"/>
-        <define name="ACT_DYN_R" value="0.06"/>
+        <define name="ACT_FREQ_P" value="31.7"/>
+        <define name="ACT_FREQ_Q" value="31.7"/>
+        <define name="ACT_FREQ_R" value="31.7"/>
 
         <!-- Adaptive Learning Rate -->
         <define name="USE_ADAPTIVE" value="TRUE"/>

diff --git a/conf/airframes/OPENUAS/openuas_parrot_ardrone_2.xml b/conf/airframes/OPENUAS/openuas_parrot_ardrone_2.xml
@@ -436,9 +436,9 @@ The most crucial part for the magnetometer calibration:
     <define name="FILT_CUTOFF" value="3.2"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
+    <define name="ACT_FREQ_P" value="31.7"/>
+    <define name="ACT_FREQ_Q" value="31.7"/>
+    <define name="ACT_FREQ_R" value="31.7"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/> <!-- make true if all works -->

diff --git a/conf/airframes/OPENUAS/openuas_parrot_bebop.xml b/conf/airframes/OPENUAS/openuas_parrot_bebop.xml
@@ -67,7 +67,7 @@
       <module name="stabilization" type="indi">
         <define name="STABILIZATION_INDI_RPM_FEEDBACK" value="TRUE"/>
         <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
-        <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.1"/>
+        <define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="53.9"/>
         <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
       </module>
     </target>
@@ -484,11 +484,11 @@ second order filter parameters -->
     <define name="FILT_CUTOFF_RDOT" value="4.0"/> -->
 
     <!-- first order actuator dynamics -->
- <!--   <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>-->
+ <!--   <define name="ACT_FREQ_P" value="31.7"/>
+    <define name="ACT_FREQ_Q" value="31.7"/>
+    <define name="ACT_FREQ_R" value="31.7"/>-->
 
-    <define name="ACT_DYN" value="{0.1, 0.1, 0.1, 0.1}"/>
+    <define name="ACT_FREQ" value="{53.9, 53.9, 53.9, 53.9}"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="TRUE"/>

diff --git a/conf/airframes/OPENUAS/openuas_parrot_bebop_2.xml b/conf/airframes/OPENUAS/openuas_parrot_bebop_2.xml
@@ -492,9 +492,9 @@ The most crucial part for the magnetometer calibration:
     <define name="FILT_CUTOFF" value="3.2"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
+    <define name="ACT_FREQ_P" value="31.7"/>
+    <define name="ACT_FREQ_Q" value="31.7"/>
+    <define name="ACT_FREQ_R" value="31.7"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/> <!-- make true if all works -->