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LibrePilot/shared/uavobjectdefinition/stabilizationsettings.xml

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OP-32 GCS/Objects Initial release of ManualControl (ServoIn) and Actuator (ServoOut) related objects. Still work in progress. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@633 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-17 04:03:15 +02:00
<xml>
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
<object name="StabilizationSettings" singleinstance="true" settings="true">
<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300"/>
Expose the rate D term which in simulations seems to help damp oscillations for high RateKp terms. However it might be sensitive to gyro noise (vibrations). In addition it is mathematically similar to lead shapign so probably only use one or the other.
2011-06-23 02:06:39 +02:00
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3"/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3"/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3"/>
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="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
Add a 1-tap IIR filter into the gyros in the feedback path. This will make the stabilization output a bit more resilient to the high frequency noise from gyros. However this value shouldn't be too high as it will increase the phase delay of the feedback loop and decrease stability. Default is 5 ms. Note: this resests the stabilizationsettings object. Sorry guys.
2011-06-22 02:49:20 +02:00
<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
OP-193: Weak leveling variant on rate mode. Slowly will return to level.
2011-07-03 17:45:01 +02:00
Change to default settings at request of Dave. AccelKp = 0.05. MaxAxisLock = 15 degrees.
2011-08-19 08:46:52 +02:00
<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="15"/>
Slightly different way to respond to sticks in axis lock that is much more responsive and avoids overshoot.
2011-06-25 17:38:37 +02:00
<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>
Add a 1-tap IIR filter into the gyros in the feedback path. This will make the stabilization output a bit more resilient to the high frequency noise from gyros. However this value shouldn't be too high as it will increase the phase delay of the feedback loop and decrease stability. Default is 5 ms. Note: this resests the stabilizationsettings object. Sorry guys.
2011-06-22 02:49:20 +02:00
OP-193: Weak leveling variant on rate mode. Slowly will return to level.
2011-07-03 17:45:01 +02:00
<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"/>
Stabilization: Small patch so that by default the integral is zeroed while throttle is low (good for quads) but can be disabled (good for planes and also testing helis).
2011-08-10 10:51:46 +02:00
<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
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
<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>
OP-32 GCS/Objects Initial release of ManualControl (ServoIn) and Actuator (ServoOut) related objects. Still work in progress. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@633 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-17 04:03:15 +02:00
</xml>
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