mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-05 13:24:11 +01:00
31 lines
2.2 KiB
XML
31 lines
2.2 KiB
XML
|
<xml>
|
||
|
<object name="GroundPathFollowerSettings" singleinstance="true" settings="true" category="Control">
|
||
|
<description>Settings for the @ref GroundPathFollowerModule</description>
|
||
|
|
||
|
<!-- these coefficients control desired movement in airspace -->
|
||
|
<field name="HorizontalVelMax" units="m/s" type="float" elements="1" defaultvalue="2"/>
|
||
|
<!-- Maximum speed the autopilot will try to achieve, usually for long distances -->
|
||
|
<field name="HorizontalVelMin" units="m/s" type="float" elements="1" defaultvalue="0"/>
|
||
|
<!-- V_y, Minimum speed the autopilot will try to fly, for example when loitering -->
|
||
|
<field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="3.0"/>
|
||
|
<field name="VelocityFeedForward" units="s" type="float" elements="1" defaultvalue="0.1"/>
|
||
|
<!-- how many seconds to plan the flight vector ahead when initiating necessary heading changes - increase for planes with sluggish response -->
|
||
|
|
||
|
<field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.2"/>
|
||
|
<!-- proportional coefficient for correction vector in path vector field to get back on course - reduce for fast planes to prevent course oscillations -->
|
||
|
<!-- these coefficients control actual control outputs -->
|
||
|
|
||
|
<field name="SpeedPI" units="deg / (m/s)" type="float" elements="4" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.1, .1, 0.001, 0.8"/>
|
||
|
<!-- coefficients for desired pitch
|
||
|
in relation to speed error IASerror -->
|
||
|
<field name="ThrustLimit" units="" type="float" elements="2" elementnames="Min,SlowForward, Max" defaultvalue="-0.3,0.15,0.3" />
|
||
|
<!-- minimum and maximum allowed thrust and setpoint for cruise speed -->
|
||
|
<field name="UpdatePeriod" units="ms" type="int32" elements="1" defaultvalue="100"/>
|
||
|
|
||
|
<access gcs="readwrite" flight="readwrite"/>
|
||
|
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||
|
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||
|
<logging updatemode="manual" period="0"/>
|
||
|
</object>
|
||
|
</xml>
|