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LibrePilot/shared/uavobjectdefinition/stabilizationsettings.xml

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OP-772: Normalize line endings
2013-04-05 22:46:56 +02:00
<xml>
OP-984 Added one UAVObject per PID bank
2013-12-11 14:34:58 +01:00
Categorizing all UAVObjects into 5 main categories: State, Sensors, System, Navigation, Control
2013-06-22 19:58:54 +02:00
<object name="StabilizationSettings" singleinstance="true" settings="true" category="Control">
OP-772: Normalize line endings
2013-04-05 22:46:56 +02:00
<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
Merged theothercliff/OP-1154_Cruise_Control_automatically_increase_copter_throttle_per_1/cos(bank_angle) Changed pid banks to use flight mode switch position instead of FlightStatus.FlightMode
2014-01-15 20:37:13 +01:00
<!-- Note: The number of elements here must match the number of available flight mode switch positions -->
<field name="FlightModeMap" units="" type="enum"
options="Bank1,Bank2,Bank3"
elements="6"
defaultvalue="Bank1,Bank1,Bank1,Bank1,Bank1,Bank1"/>
OP-772: Normalize line endings
2013-04-05 22:46:56 +02:00
<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
<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"/>
<field name="VbarTau" units="sec" type="float" elements="1" defaultvalue="0.5"/>
<field name="VbarGyroSuppress" units="%" type="int8" elements="1" defaultvalue="30"/>
<field name="VbarPiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>
<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
<field name="DerivativeCutoff" units="Hz" type="uint8" elements="1" defaultvalue="20"/>
<field name="DerivativeGamma" units="" type="float" elements="1" defaultvalue="1"/>
Change MaxAxisLock (angle) to be 30 deg.
2013-05-06 12:38:25 +02:00
<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="30"/>
OP-772: Normalize line endings
2013-04-05 22:46:56 +02:00
<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>
<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"/>
OP-1117 reduced CPU for CC/3D coded log2f() / powf()
2014-01-04 10:22:54 +01:00
<field name="RattitudeAntiWindup" units="" type="uint8" elements="1" defaultvalue="10"/>
OP-1117 Rename Horizon to Rattitude, Anti Windup and dT additions
2013-12-18 11:01:16 +01:00
OP-1154 Initial version with UAVO's but no GCS GUI
2014-01-11 22:22:20 +01:00
<field name="CruiseControlMinThrottle" units="%" type="uint8" elements="1" defaultvalue="5"/>
<field name="CruiseControlMaxThrottle" units="%" type="uint8" elements="1" defaultvalue="90"/>
<field name="CruiseControlMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="105"/>
<field name="CruiseControlMaxPowerFactor" units="x" type="float" elements="1" defaultvalue="3.0"/>
<field name="CruiseControlPowerTrim" units="%" type="float" elements="1" defaultvalue="100.0"/>
<field name="CruiseControlInvertedPowerSwitch" units="" type="int8" elements="1" defaultvalue="0"/>
<field name="CruiseControlNeutralThrust" units="%" type="uint8" elements="1" defaultvalue="0"/>
OP-984 Changed datatype of field CruiseControlFlightModeSwitchPosEnable to enum (TRUE|FALSE) instead of uint8. Now the gui works, but the flight side must be checked for problems.
2014-01-17 01:32:29 +01:00
<field name="CruiseControlFlightModeSwitchPosEnable" units="" type="enum" elements="6" options="FALSE,TRUE" defaultvalue="FALSE"/>
OP-1154 Initial version with UAVO's but no GCS GUI
2014-01-11 22:22:20 +01:00
OP-772: Normalize line endings
2013-04-05 22:46:56 +02:00
<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="LowThrottleZeroAxis" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="FALSE,TRUE" defaultvalue="FALSE,FALSE,FALSE"/>
add code to scale stabilization PID coefficients by 1/airspeed^2 if the user wishes to do so
2013-07-20 13:52:45 +02:00
<field name="ScaleToAirspeed" units="m/s" type="float" elements="1" defaultvalue="0"/>
adjusted default for max pid after test flight
2013-07-20 16:27:49 +02:00
<field name="ScaleToAirspeedLimits" units="" type="float" elementnames="Min,Max" defaultvalue="0.05,3"/>
add code to scale stabilization PID coefficients by 1/airspeed^2 if the user wishes to do so
2013-07-20 13:52:45 +02:00
OP-772: Normalize line endings
2013-04-05 22:46:56 +02:00
<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>
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