2013-04-05 22:46:56 +02:00
|
|
|
<xml>
|
2013-06-22 19:58:54 +02:00
|
|
|
<object name="RevoSettings" singleinstance="true" settings="true" category="State">
|
2013-04-05 22:46:56 +02:00
|
|
|
<description>Settings for the revo to control the algorithm and what is updated</description>
|
2014-10-21 00:12:09 +02:00
|
|
|
<field name="FusionAlgorithm" units="" type="enum" elements="1"
|
2014-10-21 00:49:00 +02:00
|
|
|
options="None,Basic (Complementary),Complementary+Mag,Complementary+Mag+GPSOutdoor,INS13Indoor,GPS Navigation (INS13)"
|
2014-10-21 00:12:09 +02:00
|
|
|
limits="%NE:None:Complementary+Mag:Complementary+Mag+GPSOutdoor:INS13Indoor;"
|
2014-10-21 16:11:26 +02:00
|
|
|
defaultvalue="Basic (Complementary)"/>
|
2013-07-26 21:14:08 +02:00
|
|
|
|
|
|
|
|
<!-- Low pass filter configuration to calculate offset of barometric altitude sensor.
|
|
|
|
|
Defaults: updates at 5 Hz, tau = 300s settle time, exp(-(1/f)/tau) ~= 0.9993335555062
|
|
|
|
|
Set BaroGPSOffsetCorrectionAlpha = 1.0 to completely disable baro offset updates. -->
|
|
|
|
|
<field name="BaroGPSOffsetCorrectionAlpha" units="" type="float" elements="1" defaultvalue="0.9993335555062"/>
|
|
|
|
|
|
2014-01-14 12:22:01 +01:00
|
|
|
<!-- Configuration for magnetometer vector validity check -->
|
2014-05-08 00:20:00 +02:00
|
|
|
<field name="MagnetometerMaxDeviation" units="%" type="float" elementnames="Warning,Error" defaultvalue="0.05,0.15" />
|
2014-01-14 12:22:01 +01:00
|
|
|
|
2013-12-10 01:46:28 +01:00
|
|
|
<!-- Cooefficients for the polynomial that models the barometer pressure bias as a function of temperature
|
|
|
|
|
bias = a + b * temp + c * temp^2 + d * temp^3 -->
|
2014-01-28 23:08:28 +01:00
|
|
|
<field name="BaroTempCorrectionPolynomial" units="" type="float" elements="4" elementnames="a,b,c,d" defaultvalue="0,0,0,0"/>
|
|
|
|
|
<field name="BaroTempCorrectionExtent" units="" type="float" elements="2" elementnames="min,max" defaultvalue="0,0"/>
|
2014-09-19 16:34:20 +02:00
|
|
|
|
|
|
|
|
<!-- Coefficient for velocity estimate post processing low pass filter
|
|
|
|
|
- filters velocity bias based on delta position to compensate offsets coming from EKF -->
|
2014-09-21 19:26:01 +02:00
|
|
|
<field name="VelocityPostProcessingLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.999"/>
|
2014-09-19 16:34:20 +02:00
|
|
|
|
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>
|
