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LibrePilot/shared/uavobjectdefinition/attitudesettings.xml

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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>
<object name="AttitudeSettings" singleinstance="true" settings="true">
<description>Settings for the @ref Attitude module used on CopterControl</description>
CC-26: Add accel bias term. Note it's units are LSB, not m/s^s git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2895 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-26 23:21:44 +01:00
<field name="AccelBias" units="lsb" type="int16" elementnames="X,Y,Z" defaultvalue="0"/>
Make gyro bias in deg/s * 100 to calibrate more precisely.
2011-06-24 17:51:07 +02:00
<field name="GyroBias" units="deg/s * 100" type="int16" elementnames="X,Y,Z" defaultvalue="0"/>
OP-508: Make rotation fields int16 instead of int8 to allow +/- 180
2011-05-29 03:33:42 +02:00
<field name="BoardRotation" units="deg" type="int16" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
CC-7: Make the gyro scale adjustable (for now at least, this was largely for debugging, let's compare values). git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2692 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-02 09:57:42 +01:00
<field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/>
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"/>
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"/>
Zero during arming on by default since we're changing these objects
2011-06-24 17:36:11 +02:00
<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
Added a field for initial gyro bias to speed up initialization.
2011-06-23 16:35:55 +02:00
<field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
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"/>
<logging updatemode="never" 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>
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