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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-1156 refactored pathfollower - new unified module as delayed callback - compiles but untested
2014-08-10 19:41:40 +02:00
<field name="TreatCustomCraftAs" units="switch" type="enum" elements="1" options="FixedWing,VTOL" defaultvalue="FixedWing"/>
OP-1156 changed PID control loops to use generic pid library, readded unnecessary integral and derivative terms to vtolpathfollower
2014-08-15 20:36:14 +02:00
<field name="HorizontalVelMax" units="m/s" type="float" elements="1" defaultvalue="5.0"/>
OP-1156 refactored pathfollower - new unified module as delayed callback - compiles but untested
2014-08-10 19:41:40 +02:00
<field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="1.0"/>
<field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="1.0"/>
Removed the now unused position Ki from VtolPathFollowerSettings UAVObject
2014-09-18 17:01:50 +02:00
<field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.25"/>
<field name="VerticalPosP" units="" type="float" elements="1" defaultvalue="0.4"/>
OP-1156 changed PID control loops to use generic pid library, readded unnecessary integral and derivative terms to vtolpathfollower
2014-08-15 20:36:14 +02:00
<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="8.0, 0.5, 0.0, 15"/>
<field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1, 0.01, 0.0, 1.0"/>
OP-1156 refactored pathfollower - new unified module as delayed callback - compiles but untested
2014-08-10 19:41:40 +02:00
<field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
Better defaults for VtolPathFollower, tested successfully with couple different frames.
2013-07-18 19:56:15 +02:00
<field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="2"/>
OP-1156 refactored pathfollower - new unified module as delayed callback - compiles but untested
2014-08-10 19:41:40 +02:00
<field name="ThrustControl" units="" type="enum" elements="1" options="manual,auto" defaultvalue="manual"/>
OP-1156 commit changed xml file
2014-08-12 18:23:45 +02:00
<field name="YawControl" units="" type="enum" elements="1" options="manual,tailin,movementdirection,pathdirection,poi" defaultvalue="manual"/>
OP-1156 refactored pathfollower - new unified module as delayed callback - compiles but untested
2014-08-10 19:41:40 +02:00
<field name="FlyawayEmergencyFallback" units="switch" type="enum" elements="1" options="disabled,enabled,always,debugtest" defaultvalue="enabled"/>
OP-1156 fixed EmergencyFlyaway detection algorithm
2014-08-12 19:12:05 +02:00
<field name="FlyawayEmergencyFallbackTriggerTime" units="s" type="float" elements="1" defaultvalue="10.0"/>
OP-1156 changed PID control loops to use generic pid library, readded unnecessary integral and derivative terms to vtolpathfollower
2014-08-15 20:36:14 +02:00
<field name="EmergencyFallbackAttitude" units="deg" type="float" elementnames="Roll,Pitch" defaultvalue="0,-20.0"/>
OP-1156 refactored pathfollower - new unified module as delayed callback - compiles but untested
2014-08-10 19:41:40 +02:00
<field name="EmergencyFallbackYawRate" units="(deg/s)/deg" type="float" elementnames="kP,Max" defaultvalue="2.0, 30.0"/>
OP-1156 changed PID control loops to use generic pid library, readded unnecessary integral and derivative terms to vtolpathfollower
2014-08-15 20:36:14 +02:00
<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
OP-1156 refactored pathfollower - new unified module as delayed callback - compiles but untested
2014-08-10 19:41:40 +02:00
<field name="UpdatePeriod" units="ms" type="uint16" 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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