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LibrePilot/shared/uavobjectdefinition/vtolpathfollowersettings.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>
Categorizing all UAVObjects into 5 main categories: State, Sensors, System, Navigation, Control
2013-06-22 19:58:54 +02:00
<object name="VtolPathFollowerSettings" singleinstance="true" settings="true" category="Control">
Refactored Guidance to apropriate pathfollower in uavobjects
2012-05-24 11:09:53 +02:00
<description>Settings for the @ref VtolPathFollowerModule</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"/>
Better defaults for VtolPathFollower, tested successfully with couple different frames.
2013-07-18 19:56:15 +02:00
<field name="HorizontalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="2"/>
Take quidance settings from simulation and make the INSGPS pick up the GPS noise from a setting.
2012-04-06 19:59:49 +02:00
<field name="VerticalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="1"/>
Better defaults for VtolPathFollower, tested successfully with couple different frames.
2013-07-18 19:56:15 +02:00
<field name="HorizontalPosPI" units="(m/s)/m" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.25,0.02,1"/>
<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="8,0.5,0.002,4"/>
<field name="VerticalPosPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.4,0.02,1"/>
<field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0.01,0,1"/>
<field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="2"/>
<field name="ThrottleControl" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
Add ability to run guidance based on raw GPS velocity instead
2012-04-14 20:34:30 +02:00
<field name="VelocitySource" units="" type="enum" elements="1" options="EKF,NEDVEL,GPSPOS" defaultvalue="EKF"/>
<field name="PositionSource" units="" type="enum" elements="1" options="EKF,GPSPOS" defaultvalue="EKF"/>
Take quidance settings from simulation and make the INSGPS pick up the GPS noise from a setting.
2012-04-06 19:59:49 +02:00
<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="20"/>
Better defaults for VtolPathFollower, tested successfully with couple different frames.
2013-07-18 19:56:15 +02:00
<field name="UpdatePeriod" units="ms" type="int32" elements="1" defaultvalue="50"/>
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"/>
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"/>
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
</object>
</xml>
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