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31 lines
2.2 KiB
XML
31 lines
2.2 KiB
XML
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<xml>
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<object name="GroundPathFollowerSettings" singleinstance="true" settings="true" category="Control">
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<description>Settings for the @ref GroundPathFollowerModule</description>
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<!-- these coefficients control desired movement in airspace -->
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<field name="HorizontalVelMax" units="m/s" type="float" elements="1" defaultvalue="2"/>
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<!-- Maximum speed the autopilot will try to achieve, usually for long distances -->
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<field name="HorizontalVelMin" units="m/s" type="float" elements="1" defaultvalue="0"/>
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<!-- V_y, Minimum speed the autopilot will try to fly, for example when loitering -->
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<field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="3.0"/>
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<field name="VelocityFeedForward" units="s" type="float" elements="1" defaultvalue="0.1"/>
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<!-- how many seconds to plan the flight vector ahead when initiating necessary heading changes - increase for planes with sluggish response -->
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<field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.2"/>
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<!-- proportional coefficient for correction vector in path vector field to get back on course - reduce for fast planes to prevent course oscillations -->
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<!-- these coefficients control actual control outputs -->
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<field name="SpeedPI" units="deg / (m/s)" type="float" elements="4" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.1, .1, 0.001, 0.8"/>
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<!-- coefficients for desired pitch
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in relation to speed error IASerror -->
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<field name="ThrustLimit" units="" type="float" elements="2" elementnames="Min,SlowForward, Max" defaultvalue="-0.3,0.15,0.3" />
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<!-- minimum and maximum allowed thrust and setpoint for cruise speed -->
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<field name="UpdatePeriod" units="ms" type="int32" elements="1" defaultvalue="100"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="true" updatemode="onchange" period="0"/>
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<telemetryflight acked="true" updatemode="onchange" period="0"/>
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<logging updatemode="manual" period="0"/>
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</object>
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</xml>
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