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LibrePilot/shared/uavobjectdefinition/vtolpathfollowersettings.xml

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Flight/Guidance: Initial template for guidance module Flight: Create PositionDesired (the active waypoint) UAVObject and make the FlightSituationActual no update since it not used. Flight: New velocity desired object that passes information between the look computing the desired velocity and the PID loop to get it (updated at different rates) UAVObjects/PositionActual: Remove unused GPS fields UAVObjects/PositionActual VelocityActual: Split the velocity into a separate object. ALso make sure all the information telemetered around is in cm to avoid using floats. UAVObject/GuidanceSettings: New guidance settings object for the guidance module Flight/Posix: Add the new objects to the Posix sim Flight/Guidance: Computes a desired velocity based on position error than runs a PID loop to control roll and pitch to achieve that velocity. All distances are in cm, and updated the PositionActual fields to reflect this and use int32. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1760 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-26 05:06:27 +02:00
<xml>
Categorizing all UAVObjects into 5 main categories: State, Sensors, System, Navigation, Control
2013-06-22 19:58:54 +02:00
<object name="VtolPathFollowerSettings" singleinstance="true" settings="true" category="Control">
Refactored Guidance to apropriate pathfollower in uavobjects
2012-05-24 11:09:53 +02:00
<description>Settings for the @ref VtolPathFollowerModule</description>
OP-1769 add dependent vtolpathfollower setting change
2015-03-10 13:13:35 +01:00
<field name="TreatCustomCraftAs" units="switch" type="enum" elements="1" options="FixedWing,VTOL,Ground" defaultvalue="FixedWing"/>
OP-1599 updated defaults for position roam mode settings, do not low pass filter throttle
2014-11-10 19:06:27 +01:00
<field name="HorizontalVelMax" units="m/s" type="float" elements="1" defaultvalue="10.0" description="maximum allowed horizontal movement velocity"/>
<field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="4.0" description="maximum allowed climb/dive velocity"/>
OP-1156 refactored pathfollower - new unified module as delayed callback - compiles but untested
2014-08-10 19:41:40 +02:00
<field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="1.0"/>
Removed the now unused position Ki from VtolPathFollowerSettings UAVObject
2014-09-18 17:01:50 +02:00
<field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.25"/>
OP-1898 VelocityRoam AltVario update tuning values based on FTT feedback
2015-05-22 11:07:06 +02:00
<field name="VerticalPosP" units="" type="float" elements="1" defaultvalue="0.3"/>
OP-1847 gps assist fixes 1. Update vtol vertical pids 2. Reduce deadband on throttle in gpsassist auto throttle to avoid large deviations in throttle change from neutral 3. Reinitialise assisted control state on mode change where the flight is the same but only gpsassist is going from disabled to enabled or enabled to disabled.
2015-05-14 12:07:07 +02:00
<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="8.0, 0.5, 0.001, 0.95"/>
OP-1898 VelocityRoam AltVario update tuning values based on FTT feedback
2015-05-22 11:07:06 +02:00
<field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.15, 0.25, 0.005, 0.95"/>
OP-1156 refactored pathfollower - new unified module as delayed callback - compiles but untested
2014-08-10 19:41:40 +02:00
<field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
Better defaults for VtolPathFollower, tested successfully with couple different frames.
2013-07-18 19:56:15 +02:00
<field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="2"/>
LP-183 sanitize uavobject definition files changed FALSE/TRUE enums to False/True other minor enum cleanups
2015-11-26 01:38:39 +01:00
<field name="ThrustControl" units="" type="enum" elements="1" options="Manual,Auto" defaultvalue="Auto"/>
<field name="YawControl" units="" type="enum" elements="1" options="Manual,Tailin,MovementDirection,PathDirection,POI" defaultvalue="Manual"/>
<field name="FlyawayEmergencyFallback" units="switch" type="enum" elements="1" options="Disabled,Enabled,Always,DebugTest" defaultvalue="Enabled"/>
OP-1156 fixed EmergencyFlyaway detection algorithm
2014-08-12 19:12:05 +02:00
<field name="FlyawayEmergencyFallbackTriggerTime" units="s" type="float" elements="1" defaultvalue="10.0"/>
OP-1156 changed PID control loops to use generic pid library, readded unnecessary integral and derivative terms to vtolpathfollower
2014-08-15 20:36:14 +02:00
<field name="EmergencyFallbackAttitude" units="deg" type="float" elementnames="Roll,Pitch" defaultvalue="0,-20.0"/>
OP-1156 refactored pathfollower - new unified module as delayed callback - compiles but untested
2014-08-10 19:41:40 +02:00
<field name="EmergencyFallbackYawRate" units="(deg/s)/deg" type="float" elementnames="kP,Max" defaultvalue="2.0, 30.0"/>
OP-1156 changed PID control loops to use generic pid library, readded unnecessary integral and derivative terms to vtolpathfollower
2014-08-15 20:36:14 +02:00
<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
REVONANO Tuning of altvario and braking
2015-05-28 00:47:26 +02:00
<field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="20"/>
gpsassist: One commit new branch Collapsed into one branch for a new code review. Some unnecssary committed files removed.
2015-01-08 03:20:47 +01:00
<field name="BrakeRate" units="m/s2" type="float" elements="1" defaultvalue="2.5"/>
<field name="BrakeMaxPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
OP-1898 VelocityRoam AltVario update tuning values based on FTT feedback
2015-05-22 11:07:06 +02:00
<field name="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="18.0, 0.0, 0.001, 0.95"/>
gpsassist: One commit new branch Collapsed into one branch for a new code review. Some unnecssary committed files removed.
2015-01-08 03:20:47 +01:00
<field name="BrakeVelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="0"/>
OP-1848 altvario tidyup of NE controllers in pathfollower Change ILimit variable name to Beta in multiple PID loops that now use pid2 implementation. Change velocity controller yaw from axislock to rate.
2015-05-09 15:03:53 +02:00
<field name="LandVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.95"/>
<field name="AutoTakeoffVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.95"/>
REVONANO VelocityRoam fixes 1. New VelocityRoamHorizontalVelPID to allow tuning of VR independent of pathfollower nav modes
2015-05-25 14:24:06 +02:00
<field name="VelocityRoamMaxRollPitch" units="deg" type="float" elements="1" defaultvalue="20"/>
REVONANO Tuning of altvario and braking
2015-05-28 00:47:26 +02:00
<field name="VelocityRoamHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="12.0, 0.5, 0.001, 0.95"/>
Flight/Guidance: Initial template for guidance module Flight: Create PositionDesired (the active waypoint) UAVObject and make the FlightSituationActual no update since it not used. Flight: New velocity desired object that passes information between the look computing the desired velocity and the PID loop to get it (updated at different rates) UAVObjects/PositionActual: Remove unused GPS fields UAVObjects/PositionActual VelocityActual: Split the velocity into a separate object. ALso make sure all the information telemetered around is in cm to avoid using floats. UAVObject/GuidanceSettings: New guidance settings object for the guidance module Flight/Posix: Add the new objects to the Posix sim Flight/Guidance: Computes a desired velocity based on position error than runs a PID loop to control roll and pitch to achieve that velocity. All distances are in cm, and updated the PositionActual fields to reflect this and use int32. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1760 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-26 05:06:27 +02:00
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
Fixed metadata settings in object browswer, and removed update mode never from all uavobjects that used it (changed to manual).
2012-04-21 20:59:14 +02:00
<logging updatemode="manual" period="0"/>
Flight/Guidance: Initial template for guidance module Flight: Create PositionDesired (the active waypoint) UAVObject and make the FlightSituationActual no update since it not used. Flight: New velocity desired object that passes information between the look computing the desired velocity and the PID loop to get it (updated at different rates) UAVObjects/PositionActual: Remove unused GPS fields UAVObjects/PositionActual VelocityActual: Split the velocity into a separate object. ALso make sure all the information telemetered around is in cm to avoid using floats. UAVObject/GuidanceSettings: New guidance settings object for the guidance module Flight/Posix: Add the new objects to the Posix sim Flight/Guidance: Computes a desired velocity based on position error than runs a PID loop to control roll and pitch to achieve that velocity. All distances are in cm, and updated the PositionActual fields to reflect this and use int32. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1760 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-26 05:06:27 +02:00
</object>
</xml>
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