HoldPhaseIntegralMultiplier

Declared in ROEFormationControllerSoftware

Declaration

[Unit("")]
[Range(0.1, 10)]
double HoldPhaseIntegralMultiplier;

Description

During R-bar or V-bar hold (before approach starts), the integral gain on the axis being nulled (Y for R-bar, X for V-bar) is multiplied by this factor. Values > 1 help the controller achieve tighter axis position/velocity tolerances so approach can start with smaller RBarAxisPositionTolerance or VBarAxisPositionTolerance. Has no effect after approach start or in other modes.