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LibrePilot/shared/uavobjectdefinition/txpidsettings.xml

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TxPID: optional module to tune PID settings using R/C transmitter This module will periodically update values of stabilization PID settings depending on configured input control channels. New values of stabilization settings are not saved to flash, but updated in RAM. It is expected that the module will be enabled only for tuning. When desired values are found, they can be read via GCS and saved permanently. Then this module should be disabled again.
2011-09-16 22:36:44 +02:00
<xml>
<object name="TxPIDSettings" singleinstance="true" settings="true">
<description>Settings used by @ref TxPID optional module to tune PID settings using R/C transmitter</description>
TxPID: add update mode option as a workaround for GCS interaction
2011-09-19 15:16:28 +02:00
<field name="UpdateMode" units="option" type="enum" elements="1" options="Never,When Armed,Always" defaultvalue="When Armed"/>
TxPID: enable ramp-shaped throttle-dependent PIDs Besides of knob PID tuning it is now possible to use throttle channel to ramp-shape PID coefficients. This can be used to lower some PIDs on VTOL while sinking to prevent wobble. To use the feature select throttle as control input, choose throttle range max and min values, assign the instance to particular PID coefficient and define a range for it. When throttle is lower than defined throttle range min value (or higher than max), then min and max PID values will be used accordingly. Changing throttle from throttle min to max will linearly scale PID value. Note that it is possible to set MinPID > MaxPID. In that case increasing control input value will decrease the PID coefficient. Up to 3 independent instances can be configured. The number can be increased changing the UAVO definition, but at the cost of extra RAM.
2011-09-18 13:38:50 +02:00
<field name="Inputs" units="channel" type="enum"
elementnames="Instance1,Instance2,Instance3"
options="Throttle,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5"
defaultvalue="Throttle,Accessory0,Accessory1"/>
TxPID: fix units for ThrottleRange
2012-01-14 16:38:17 +01:00
<field name="ThrottleRange" units="%" type="float" elements="2" elementnames="Min,Max" defaultvalue="0.20,0.80"/>
TxPID: optional module to tune PID settings using R/C transmitter This module will periodically update values of stabilization PID settings depending on configured input control channels. New values of stabilization settings are not saved to flash, but updated in RAM. It is expected that the module will be enabled only for tuning. When desired values are found, they can be read via GCS and saved permanently. Then this module should be disabled again.
2011-09-16 22:36:44 +02:00
<field name="PIDs" units="option" type="enum"
elementnames="Instance1,Instance2,Instance3"
options="Disabled,
Roll Rate.Kp, Pitch Rate.Kp, Roll+Pitch Rate.Kp, Yaw Rate.Kp,
Roll Rate.Ki, Pitch Rate.Ki, Roll+Pitch Rate.Ki, Yaw Rate.Ki,
Roll Rate.Kd, Pitch Rate.Kd, Roll+Pitch Rate.Kd, Yaw Rate.Kd,
TxPID module: add ILimit values to the list of settings
2012-02-21 18:57:10 +01:00
Roll Rate.ILimit, Pitch Rate.ILimit, Roll+Pitch Rate.ILimit, Yaw Rate.ILimit,
TxPID: optional module to tune PID settings using R/C transmitter This module will periodically update values of stabilization PID settings depending on configured input control channels. New values of stabilization settings are not saved to flash, but updated in RAM. It is expected that the module will be enabled only for tuning. When desired values are found, they can be read via GCS and saved permanently. Then this module should be disabled again.
2011-09-16 22:36:44 +02:00
Roll Attitude.Kp, Pitch Attitude.Kp, Roll+Pitch Attitude.Kp, Yaw Attitude.Kp,
TxPID module: add ILimit values to the list of settings
2012-02-21 18:57:10 +01:00
Roll Attitude.Ki, Pitch Attitude.Ki, Roll+Pitch Attitude.Ki, Yaw Attitude.Ki,
Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit"
TxPID: optional module to tune PID settings using R/C transmitter This module will periodically update values of stabilization PID settings depending on configured input control channels. New values of stabilization settings are not saved to flash, but updated in RAM. It is expected that the module will be enabled only for tuning. When desired values are found, they can be read via GCS and saved permanently. Then this module should be disabled again.
2011-09-16 22:36:44 +02:00
defaultvalue="Disabled"/>
TxPID: enable ramp-shaped throttle-dependent PIDs Besides of knob PID tuning it is now possible to use throttle channel to ramp-shape PID coefficients. This can be used to lower some PIDs on VTOL while sinking to prevent wobble. To use the feature select throttle as control input, choose throttle range max and min values, assign the instance to particular PID coefficient and define a range for it. When throttle is lower than defined throttle range min value (or higher than max), then min and max PID values will be used accordingly. Changing throttle from throttle min to max will linearly scale PID value. Note that it is possible to set MinPID > MaxPID. In that case increasing control input value will decrease the PID coefficient. Up to 3 independent instances can be configured. The number can be increased changing the UAVO definition, but at the cost of extra RAM.
2011-09-18 13:38:50 +02:00
<field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
<field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
TxPID: optional module to tune PID settings using R/C transmitter This module will periodically update values of stabilization PID settings depending on configured input control channels. New values of stabilization settings are not saved to flash, but updated in RAM. It is expected that the module will be enabled only for tuning. When desired values are found, they can be read via GCS and saved permanently. Then this module should be disabled again.
2011-09-16 22:36:44 +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"/>
TxPID: optional module to tune PID settings using R/C transmitter This module will periodically update values of stabilization PID settings depending on configured input control channels. New values of stabilization settings are not saved to flash, but updated in RAM. It is expected that the module will be enabled only for tuning. When desired values are found, they can be read via GCS and saved permanently. Then this module should be disabled again.
2011-09-16 22:36:44 +02:00
</object>
</xml>
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