2011-08-24 19:18:07 +02:00
|
|
|
<xml>
|
|
|
|
|
<object name="InsSettings" singleinstance="true" settings="true">
|
|
|
|
|
<description>Settings for the INS to control the algorithm and what is updated</description>
|
|
|
|
|
<field name="Algorithm" units="" type="enum" elements="1" options="NONE,SIMPLE,CALIBRATION,INSGPS_INDOOR_NOMAG,INSGPS_INDOOR,INSGPS_OUTDOOR" defaultvalue="INSGPS_INDOOR_NOMAG"/>
|
|
|
|
|
<field name="BiasCorrectedRaw" units="" type="enum" elements="1" options="TRUE,FALSE" defaultvalue="TRUE"/>
|
|
|
|
|
|
|
|
|
|
<!-- Sensor noises -->
|
|
|
|
|
<field name="accel_bias" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
|
|
|
|
|
<field name="accel_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
|
2011-09-02 20:27:13 +02:00
|
|
|
<field name="accel_var" units="(m/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
|
2011-08-24 19:18:07 +02:00
|
|
|
<field name="gyro_bias" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
|
2011-09-02 20:27:13 +02:00
|
|
|
<field name="gyro_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
|
|
|
|
|
<field name="gyro_var" units="(deg/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
|
2011-08-24 19:18:07 +02:00
|
|
|
<field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
|
|
|
|
|
<field name="mag_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
|
|
|
|
|
<field name="mag_var" units="mGau^2" type="float" elementnames="X,Y,Z" defaultvalue="50"/>
|
|
|
|
|
<field name="vel_var" units="(m/s)^2" type="float" elements="1" defaultvalue="10"/>
|
|
|
|
|
<field name="pos_var" units="m^2" type="float" elements="1" defaultvalue="0.04"/>
|
|
|
|
|
|
|
|
|
|
<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>
|
