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LibrePilot/shared/uavobjectdefinition/guidancesettings.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>
<object name="GuidanceSettings" singleinstance="true" settings="true">
<description>Settings for the @ref GuidanceModule</description>
OP-261 Drop PositionPID mode from GuidanceSettings git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2413 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:51:57 +01:00
<field name="GuidanceMode" units="" type="enum" elements="1" options="DUAL_LOOP,VELOCITY_CONTROL" defaultvalue="DUAL_LOOP"/>
Fix for typo in guidancesettings. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3078 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-26 12:55:10 +01:00
<field name="HorizontalVelMax" units="cm/s" type="uint16" elements="1" defaultvalue="300"/>
<field name="VerticalVelMax" units="cm/s" type="uint16" elements="1" defaultvalue="150"/>
Convert outer position controller to PI git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3077 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-26 12:40:33 +01:00
<field name="HorizontalPosPI" units="(cm/s)/cm" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.1,0.001,300"/>
<field name="HorizontalVelPID" units="deg/(cm/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.05,0.002,0,1000"/>
<field name="VerticalPosPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.1,0.001,200"/>
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
<field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0,0,0"/>
OP-261 Magic Waypoint: Accel feedback for position hold git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2412 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:51:54 +01:00
<field name="ThrottleControl" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
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
<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="10"/>
OP-261 Clean up GuidanceSettings to be more intuitive git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2414 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:52:00 +01:00
<field name="UpdatePeriod" units="" type="int32" elements="1" defaultvalue="100"/>
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"/>
<logging updatemode="never" period="0"/>
</object>
</xml>
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