Hamilton Jet HTX30, Product Manual

Page: 173 / 182

HTX30 Product Manual Appendix
8-59
Gains group
Short name: Gains
Name SCP text Description Min Max Default Units Access
Kp (surge) Kp Su Proportional gain, surge position. 0 65000 300 /1000 C
Kpr (surge) KprSu Proportional gain, surge velocity. 0 65000 20 *100 C
Kir (surge) KirSu Integral gain, surge velocity. 0 65000 30 *10 C
Kaw (surge) KawSu Anti-windup gain, surge. 0 65000 100 /1000 C
Kp (sway) Kp Sw Proportional gain, sway position. 0 65000 92 /1000 C
Kpr (sway) KprSw Proportional gain, sway velocity. 0 65000 7 *100 C
Kir (sway) KirSw Integral gain, sway velocity. 0 65000 7 *10 C
Kaw (sway) KawSw Anti-windup gain, sway. 0 65000 100 /1000 C
Kasd (sway active
damping)
KasdS Proportional gain, sway active damping. 0 65000 0 /1000 C
Kp (yaw) Kp Ya Proportional gain, yaw angle. 0 65000 300 /1000 C
Kpr (yaw) KprYa Proportional gain, yaw rate. 0 65000 96 *100 C
Kir (yaw) KirYa Integral gain, yaw rate. 0 65000 540 *10 C
Kaw (yaw) KawYa Anti-windup gain, yaw. 0 65000 100 /1000 C
Velocity mode group
Short name: VMode
Name SCP text Description Min Max Default Units Access
Maximum surge
velocity
VEnvU Mouseboat maximum surge velocity. 50 5000 2000 mm/s C
Maximum sway
velocity
VEnvV Mouseboat maximum sway velocity. 50 5000 500 mm/s C
Maximum rate of
turn
VEnvR Mouseboat maximum rate of turn. 50 20000 7500 milli
degrees
/s
C
Filters group
Short name: Filtr
Name SCP text Description Min Max Default Units Access
X position time
constant
X Tau Filter time constant, X position. 10 10000 250 ms C
Y position time
constant
Y Tau Filter time constant, Y position. 10 10000 2400 ms C
Heading time
constant
HeTau Filter time constant, heading. 10 10000 250 ms C
U velocity time
constant
U Tau Filter time constant, U velocity. 10 10000 250 ms C
V velocity time
constant
V Tau Filter time constant, V velocity. 10 10000 1200 ms C
Rate of turn time
constant
R Tau Filter time constant, yaw rate. 10 10000 250 ms C
Mouseboat surge
demand time
constant
SuTau Filter time constant, Mouseboat surge. 0 10000 500 ms C
Mouseboat sway
demand time
constant
SwTau Filter time constant, Mouseboat sway. 0 10000 500 ms C
Mouseboat yaw
demand time
constant
YwTau Filter time constant, Mouseboat rotation. 0 10000 500 ms C
Active sway
damping time
constant
AsTau Filter time, active sway damping. 10 10000 1000 ms C