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LibrePilot/shared/uavobjectdefinition/stabilizationsettings.xml

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OP-32 GCS/Objects Initial release of ManualControl (ServoIn) and Actuator (ServoOut) related objects. Still work in progress. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@633 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-17 04:03:15 +02:00
<xml>
OP-316 UAVObject Fix typo, indents, units, default values git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2896 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-27 01:38:59 +01:00
<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>
Added Dado's UI. Several scale bug fixes. Added lots of debug info, will clean later.
2012-02-06 18:33:54 +01:00
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
OP-316 UAVObject Fix typo, indents, units, default values git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2896 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-27 01:38:59 +01:00
Added Dado's UI. Several scale bug fixes. Added lots of debug info, will clean later.
2012-02-06 18:33:54 +01:00
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
Bug fixes and showcase UI setup (partial).
2012-02-07 21:29:32 +01:00
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
Add friendly settings for the vbar mode including the VbarTau which acts like the time constant.
2012-02-21 03:47:54 +01:00
<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
Change the units to something more reasonable
2012-02-21 06:21:57 +01:00
<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
<field name="VbarPitchPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
<field name="VbarYawPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
Add friendly settings for the vbar mode including the VbarTau which acts like the time constant.
2012-02-21 03:47:54 +01:00
<field name="VbarTau" units="sec" type="float" elements="1" defaultvalue="0.5"/>
Make the amount to suppress the gyros adjustable instead of binary
2012-05-26 17:38:03 +02:00
<field name="VbarGyroSuppress" units="%" type="int8" elements="1" defaultvalue="30"/>
Add piro compensation option to the vbar mode
2012-02-22 01:02:37 +01:00
<field name="VbarPiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
Limit the number of degrees the vbar can deflect. This is good for fast flips etc.
2012-05-04 03:30:15 +02:00
<field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>
Add a 1-tap IIR filter into the gyros in the feedback path. This will make the stabilization output a bit more resilient to the high frequency noise from gyros. However this value shouldn't be too high as it will increase the phase delay of the feedback loop and decrease stability. Default is 5 ms. Note: this resests the stabilizationsettings object. Sorry guys.
2011-06-22 02:49:20 +02:00
<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
Stabilization: Add configuration terms for the derivative calculation to the UAVO and pass them in to the PID system.
2012-09-11 19:29:38 +02:00
<field name="DerivativeCutoff" units="Hz" type="uint8" elements="1" defaultvalue="20"/>
<field name="DerivativeGamma" units="" type="float" elements="1" defaultvalue="1"/>
OP-193: Weak leveling variant on rate mode. Slowly will return to level.
2011-07-03 17:45:01 +02:00
Change to default settings at request of Dave. AccelKp = 0.05. MaxAxisLock = 15 degrees.
2011-08-19 08:46:52 +02:00
<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="15"/>
Slightly different way to respond to sticks in axis lock that is much more responsive and avoids overshoot.
2011-06-25 17:38:37 +02:00
<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>
Add a 1-tap IIR filter into the gyros in the feedback path. This will make the stabilization output a bit more resilient to the high frequency noise from gyros. However this value shouldn't be too high as it will increase the phase delay of the feedback loop and decrease stability. Default is 5 ms. Note: this resests the stabilizationsettings object. Sorry guys.
2011-06-22 02:49:20 +02:00
OP-193: Weak leveling variant on rate mode. Slowly will return to level.
2011-07-03 17:45:01 +02:00
<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
<field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
Stabilization: Small patch so that by default the integral is zeroed while throttle is low (good for quads) but can be disabled (good for planes and also testing helis).
2011-08-10 10:51:46 +02:00
<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
OP-316 UAVObject Fix typo, indents, units, default values git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2896 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-27 01:38:59 +01:00
<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"/>
OP-316 UAVObject Fix typo, indents, units, default values git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2896 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-27 01:38:59 +01:00
</object>
OP-32 GCS/Objects Initial release of ManualControl (ServoIn) and Actuator (ServoOut) related objects. Still work in progress. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@633 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-17 04:03:15 +02:00
</xml>
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