LibrePilot/shared/uavobjectdefinition/stabilizationbank.xml

<xml>
    <object name="StabilizationBank" singleinstance="true" settings="false" category="Control">
        <description>Currently selected PID bank</description>

	<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
	<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
	<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
	<field name="ManualRate" units="degrees/sec" type="uint16" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
	<field name="MaximumRate" units="degrees/sec" type="uint16" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
	<field name="StickExpo" units="percent" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0" limits="%BE:-100:100; %BE:-100:100; %BE:-100:100"/>

	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.025; ; "/>
	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.025; ; "/>
	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.025 ; ; "/>
	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit"/>

	<field name="AcroInsanityFactor" units="percent" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="40" limits="%BE:0:100"/>

	<field name="EnablePiroComp" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>

	<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
	<field name="ThrustPIDScaleCurve" units="percent" type="int8" elementnames="0,25,50,75,100" defaultvalue="30,15,0,-15,-30"/>
	<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
	<field name="ThrustPIDScaleTarget" units="" type="enum" elements="1" options="PID,PI,PD,ID,P,I,D" defaultvalue="PID" />
	<field name="ThrustPIDScaleAxes" units="" type="enum" elements="1" options="Roll Pitch Yaw,Roll Pitch,Roll Yaw,Roll,Pitch Yaw,Pitch,Yaw" defaultvalue="Roll Pitch" />

	<access gcs="readwrite" flight="readwrite"/>
	<telemetrygcs acked="false" updatemode="manual" period="0"/>
	<telemetryflight acked="false" updatemode="periodic" period="1000"/>
	<logging updatemode="manual" period="0"/>
</object>

</xml>