2016-02-28 09:48:13 +01:00
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<xml>
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<object name="SystemIdent" singleinstance="true" settings="true" category="Control">
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<description>The input to the PID tuning.</description>
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2016-02-29 00:37:34 +01:00
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<field name="Tau" units="ln(sec)" type="float" elements="1" defaultvalue="-4.0"/>
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2016-02-28 09:48:13 +01:00
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<!-- Beta default valuses 10.0 10.0 7.0 so that SystemIdent mode can be run without AutoTune -->
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<field name="Beta" units="" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="10.0,10.0,7.0"/>
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<field name="Bias" units="" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0"/>
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<field name="Noise" units="(deg/s)^2" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0"/>
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<field name="Period" units="ms" type="float" elements="1" defaultvalue="0"/>
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<field name="NumAfPredicts" units="" type="uint32" elements="1" defaultvalue="0"/>
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<field name="NumSpilledPts" units="" type="uint32" elements="1" defaultvalue="0"/>
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<field name="HoverThrottle" units="%/100" type="float" elements="1" defaultvalue="0"/>
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<!-- Decrease damping to make your aircraft response more rapidly. Increase it for more stability. -->
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<!-- Increasing noise (sensitivity) will make your aircraft respond more rapidly, but will cause twitches due to noise. -->
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2016-03-04 17:16:17 +01:00
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<!-- Use RateDamp 130 with RateNoise 08 for very smooth flight. -->
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<!-- Use RateDamp 110 with RateNoise 10 for default flight. -->
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<!-- Use RateDamp 100 with RateNoise 13 for very snappy flight. -->
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2016-02-28 09:48:13 +01:00
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<!-- RateNoise is [0,30] default 10. -->
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<!-- RateDamp is [50,150] default 110. -->
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2016-03-04 17:16:17 +01:00
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<field name="DampMin" units="" type="uint8" elements="1" defaultvalue="100"/>
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<field name="DampRate" units="" type="uint8" elements="1" defaultvalue="110"/>
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<field name="DampMax" units="" type="uint8" elements="1" defaultvalue="130"/>
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<field name="NoiseMin" units="" type="uint8" elements="1" defaultvalue="8"/>
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<field name="NoiseRate" units="" type="uint8" elements="1" defaultvalue="10"/>
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<field name="NoiseMax" units="" type="uint8" elements="1" defaultvalue="13"/>
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2016-02-29 00:37:34 +01:00
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<field name="CalculateYaw" units="bool" type="enum" elements="1" options="False,True" defaultvalue="True"/>
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<field name="DestinationPidBank" units="bank#" type="uint8" elements="1" defaultvalue="2"/>
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2016-03-04 17:16:17 +01:00
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<field name="TuningDuration" units="sec" type="uint8" elements="1" defaultvalue="60"/>
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<!-- smooth vs. quick PID selector: -->
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<!-- 0 = disabled -->
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<!-- 10 thru 13 correspond to aux0 -> aux3 transmitter knobs -->
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<!-- 23 and 25 are discrete 3 and 5 stop rount robin selectors accessed by quickly toggling the fms 3 times -->
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<!-- 23 means stops at 1/2, 1, 0 (repeat) -->
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<!-- 25 means stops at 1/2, 3/4, 1, 0, 1/4 (repeat) -->
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<field name="SmoothQuick" units="sec" type="uint8" elements="1" defaultvalue="25"/>
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<field name="Complete" units="bool" type="enum" elements="1" options="False,True" defaultvalue="False"/>
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2016-02-28 09:48:13 +01:00
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<access gcs="readwrite" flight="readwrite"/>
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2016-03-04 17:16:17 +01:00
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<telemetrygcs acked="true" updatemode="onchange" period="0"/>
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<telemetryflight acked="false" updatemode="onchange" period="5000"/>
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2016-02-28 09:48:13 +01:00
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<logging updatemode="manual" period="0"/>
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</object>
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</xml>
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