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LibrePilot/shared/uavobjectdefinition/stabilizationsettings.xml

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<xml>
<object name="StabilizationSettings" singleinstance="true" settings="true" category="Control">
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<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
<!-- 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"/>
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<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="0.003"/>
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<field name="DerivativeCutoff" units="Hz" type="uint8" elements="1" defaultvalue="20"/>
<field name="DerivativeGamma" units="" type="float" elements="1" defaultvalue="1"/>
<field name="AxisLockKp" units="" type="float" elements="1" defaultvalue="2.5"/>
<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="30"/>
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<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"/>
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<field name="RattitudeModeTransition" units="%" type="uint8" elements="1" defaultvalue="80"/>
<field name="CruiseControlMinThrust" units="%" type="int8" elements="1" defaultvalue="5"/>
<field name="CruiseControlMaxThrust" 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="CruiseControlPowerDelayComp" units="sec" type="float" elements="1" defaultvalue="0.25"/>
<field name="CruiseControlFlightModeSwitchPosEnable" units="" type="enum" elements="6" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="CruiseControlInvertedThrustReversing" units="" type="enum" elements="1" options="Unreversed,Reversed" defaultvalue="Unreversed"/>
<field name="CruiseControlInvertedPowerOutput" units="" type="enum" elements="1" options="Zero,Normal,Boosted" defaultvalue="Zero"/>
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<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="ScaleToAirspeed" units="m/s" type="float" elements="1" defaultvalue="0"/>
<field name="ScaleToAirspeedLimits" units="" type="float" elementnames="Min,Max" defaultvalue="0.05,3"/>
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<field name="FlightModeAssistMap" units="" type="enum" options="None,GPSAssist" elements="6" defaultvalue="None,None,None,None,None,None" />
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<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>