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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"/>
OP-316 - UAVObject units Fix accelerations units Fix default mag values Fix gyro scale Fix var units git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2868 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-24 02:52:39 +01:00
<field name="HorizontalP" units="(m/s)/m" type="float" elements="1" elementnames="Kp,Max" defaultvalue="0.2,200"/>
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="HorizontalVelPID" units="" type="float" elements="4" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0,0,0"/>
<field name="VerticalP" units="" type="float" elements="1" elementnames="Kp,Max" defaultvalue="0.1,200"/>
OP-316 - UAVObject units Fix accelerations units Fix default mag values Fix gyro scale Fix var units git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2868 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-24 02:52:39 +01:00
<field name="VerticalVelPID" units="(m/s)/m" type="float" elements="4" 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-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="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="10"/>
<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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