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<xml >
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<object name= "StabilizationSettings" singleinstance= "true" settings= "true" >
<description > PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
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<field name= "RollMax" units= "degrees" type= "uint8" elements= "1" defaultvalue= "35" />
<field name= "PitchMax" units= "degrees" type= "uint8" elements= "1" defaultvalue= "35" />
<field name= "YawMax" units= "degrees" type= "uint8" elements= "1" defaultvalue= "35" />
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<field name= "YawMode" units= "degrees" type= "enum" elements= "1" options= "rate,heading" defaultvalue= "rate" />
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<field name= "ThrottleMax" units= "frac" type= "float" elements= "1" defaultvalue= "1.0" />
<field name= "ThrottleMin" units= "frac" type= "float" elements= "1" defaultvalue= "-1.0" />
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<field name= "RollIntegralLimit" units= "" type= "float" elements= "1" defaultvalue= "0.5" />
<field name= "PitchIntegralLimit" units= "" type= "float" elements= "1" defaultvalue= "0.5" />
<field name= "YawIntegralLimit" units= "" type= "float" elements= "1" defaultvalue= "0.5" />
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<field name= "PitchKp" units= "" type= "float" elements= "1" defaultvalue= "0.04" />
<field name= "PitchKi" units= "" type= "float" elements= "1" defaultvalue= "0.000004" />
<field name= "PitchKd" units= "" type= "float" elements= "1" defaultvalue= "0.01" />
<field name= "RollKp" units= "" type= "float" elements= "1" defaultvalue= "0.02" />
<field name= "RollKi" units= "" type= "float" elements= "1" defaultvalue= "0.000004" />
<field name= "RollKd" units= "" type= "float" elements= "1" defaultvalue= "0.01" />
<field name= "YawKp" units= "" type= "float" elements= "1" defaultvalue= "0.04" />
<field name= "YawKi" units= "" type= "float" elements= "1" defaultvalue= "0.000004" />
<field name= "YawKd" units= "" type= "float" elements= "1" defaultvalue= "0.01" />
<access gcs= "readwrite" flight= "readwrite" />
<telemetrygcs acked= "true" updatemode= "onchange" period= "0" />
<telemetryflight acked= "true" updatemode= "onchange" period= "0" />
<logging updatemode= "never" period= "0" />
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</object>
</xml>