The lower portion of the tuning screen has text fields to edit for the user to tune the system. To get the current configurations, press the READ button. This button is blue when active and green when selected. Once a field has been modified, the WRITE button will set the new configurations and the result can be visualized in the graphic display.
To access tuning, go to Mission View and press Shift +Alt+M. The tuning screen will display on the map grid. To hide the tuning utility, press Control+Alt+M again.
Select the controller you wish to tune from the Autopilot Tuning Console at the top of the page at the bottom of the screen and click READ. The utility will read the current parameters for that controller from the openCMD configuration file and display them in the editable fields on the page.
The Balefire system uses the openSEA application openCMD to implement the individual degree of freedom control. Each degree of freedom has several states of control: open-loop, closed-loop tracking position, closed-loop tracking velocity, and closed-loop tracking a reference position. In most cases, the closed-loop controllers implement a classical control algorithm based on a modified Proportional-Integral-Derivative (PID) controller.
