LibrePilot/shared/uavobjectdefinition/attitudesettings.xml

<xml>
    <object name="AttitudeSettings" singleinstance="true" settings="true" category="State">
        <description>Settings for the @ref Attitude module used on CopterControl</description>
        <field name="BoardRotation" units="deg" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
        <field name="BoardLevelTrim" units="deg" type="float" elementnames="Roll,Pitch" defaultvalue="0,0"/>
        <field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/>
        <field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
        <field name="MagKi" units="" type="float" elements="1" defaultvalue="0.000001"/>
        <field name="MagKp" units="" type="float" elements="1" defaultvalue="0.01"/>
        <field name="AccelTau" units="" type="float" elements="1" defaultvalue="0.05"/>
        <field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
        <field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="False,True" defaultvalue="True"/>
        <field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="False,True" defaultvalue="True"/>
        <field name="InitialZeroWhenBoardSteady" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
        <field name="BoardSteadyMaxVariance" units="(deg/s)^2" type="float" elements="1" defaultvalue="5"/>
        <field name="TrimFlight" units="channel" type="enum" elements="1" options="NORMAL,START,LOAD" defaultvalue="NORMAL"/>
        <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>
UAVObjects/AttitudeSettinsg: Object for CC to tune the attitude estimation git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2666 ebee16cc-31ac-478f-84a7-5cbb03baadba 2011-02-01 03:18:26 +01:00			`<xml>`
Categorizing all UAVObjects into 5 main categories: State, Sensors, System, Navigation, Control 2013-06-22 19:58:54 +02:00			`<object name="AttitudeSettings" singleinstance="true" settings="true" category="State">`
UAVObjects/AttitudeSettinsg: Object for CC to tune the attitude estimation git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2666 ebee16cc-31ac-478f-84a7-5cbb03baadba 2011-02-01 03:18:26 +01:00			`<description>Settings for the @ref Attitude module used on CopterControl</description>`
OP-975 change BoardRotation data type to float so it can be used for level calibration 2014-04-10 01:47:37 +02:00			`<field name="BoardRotation" units="deg" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>`
OP-1358 Revo:Implement roll/pitch trim settings separated from "nominal" board rotation settings 2014-05-28 22:58:28 +02:00			`<field name="BoardLevelTrim" units="deg" type="float" elementnames="Roll,Pitch" defaultvalue="0,0"/>`
Change to default settings at request of Dave. AccelKp = 0.05. MaxAxisLock = 15 degrees. 2011-08-19 08:46:52 +02:00			`<field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/>`
CC-18 Attitude: Change units to proper engineering ones. An accelKp=1 means that it will completely follow the accel attitude each cycle and is way too high. Ki=1 means the gyro bias wil be correct by accels each cycle (way too high). git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2755 ebee16cc-31ac-478f-84a7-5cbb03baadba 2011-02-08 17:34:35 +01:00			`<field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>`
OP-1375 Update Mag Ki and Kp default settings 2014-06-29 16:06:54 +02:00			`<field name="MagKi" units="" type="float" elements="1" defaultvalue="0.000001"/>`
			`<field name="MagKp" units="" type="float" elements="1" defaultvalue="0.01"/>`
LP-160 Set default value for AccelTau - Remove unused const 2015-10-20 03:00:24 +02:00			`<field name="AccelTau" units="" type="float" elements="1" defaultvalue="0.05"/>`
CC-35: Separate term for CC yaw bias rate and others Note: AttitudeSettings changed so you'll need to re-zero it git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3090 ebee16cc-31ac-478f-84a7-5cbb03baadba 2011-03-28 20:42:48 +02:00			`<field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>`
LP-183 sanitize uavobject definition files changed FALSE/TRUE enums to False/True other minor enum cleanups 2015-11-26 01:38:39 +01:00			`<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="False,True" defaultvalue="True"/>`
			`<field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="False,True" defaultvalue="True"/>`
LP-327 - Add a parameter to opt-out the board steady logic 2016-06-28 00:10:05 +02:00			`<field name="InitialZeroWhenBoardSteady" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>`
LP-395 - Raise BoardSteadyMaxVariance to support some boards with noisier gyros 2016-09-03 21:54:13 +02:00			`<field name="BoardSteadyMaxVariance" units="(deg/s)^2" type="float" elements="1" defaultvalue="5"/>`
OP-925 converted mixed tabs/spaces to spaces only +review OPReview-484 2013-05-27 20:11:59 +02:00			`<field name="TrimFlight" units="channel" type="enum" elements="1" options="NORMAL,START,LOAD" defaultvalue="NORMAL"/>`
UAVObjects/AttitudeSettinsg: Object for CC to tune the attitude estimation git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2666 ebee16cc-31ac-478f-84a7-5cbb03baadba 2011-02-01 03:18:26 +01:00			`<access gcs="readwrite" flight="readwrite"/>`
			`<telemetrygcs acked="true" updatemode="onchange" period="0"/>`
			`<telemetryflight acked="true" updatemode="onchange" period="0"/>`
Fixed metadata settings in object browswer, and removed update mode never from all uavobjects that used it (changed to manual). 2012-04-21 20:59:14 +02:00			`<logging updatemode="manual" period="0"/>`
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>`
			`</xml>`