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Merge branch 'rel-15.02.02' into samguns/zh_CN_GCS

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This commit is contained in:
samguns 2015-04-27 11:56:25 +08:00
commit 09a00f8990
20 changed files with 4494 additions and 4428 deletions
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14
WHATSNEW.txt
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@ -1,3 +1,17 @@
--- RELEASE-15.02.01 ---
This release fixes an in important bug that may prevent failsafe to work correctly using CC3D/CC with a PWM receiver.
The full list of bugfixes in this release is accessible here:
https://progress.openpilot.org/issues/?filter=12260
Release Notes - OpenPilot - Version RELEASE-15.02.1
** Bug
* [OP-1812] - CC3D : PWM: Does not go into failsafe when RX is pulled under 50% throttle
--- RELEASE-15.02 --- Ragin' Cajun ---
This release introduces major flight performance improvements, enhancements as well as bug fixes. Many enhancements have been made to reducing dead-time of the communication between the flight controller and ESCs. In our testing, we have found this to be not only the best flight performance so far in the OpenPilot project but the best flight performance of any project we have tested against. This is a recommended upgrade for everyone and the more skilled of a pilot you are, the more you will love this release.

4
flight/modules/Sensors/sensors.c
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@ -444,8 +444,8 @@ static void handleGyro(float *samples, float temperature)
static void handleMag(float *samples, float temperature)
{
MagSensorData mag;
float mags[3] = { (float)samples[1] - mag_bias[0],
(float)samples[0] - mag_bias[1],
float mags[3] = { (float)samples[0] - mag_bias[0],
(float)samples[1] - mag_bias[1],
(float)samples[2] - mag_bias[2] };
rot_mult(mag_transform, mags, samples);

5
flight/modules/gpsp/gps9maghandler.c
View File

@ -49,9 +49,8 @@ void handleMag()
if (PIOS_HMC5x83_ReadMag(onboard_mag, mag) == 0) {
MagUbxPkt magPkt;
// swap axis so that if side with connector is aligned to revo side with connectors, mags data are aligned
magPkt.fragments.data.X = -mag[1];
magPkt.fragments.data.Y = mag[0];
magPkt.fragments.data.X = mag[0];
magPkt.fragments.data.Y = mag[1];
magPkt.fragments.data.Z = mag[2];
magPkt.fragments.data.status = 1;
ubx_buildPacket(&magPkt.packet, UBX_OP_CUST_CLASS, UBX_OP_MAG, sizeof(MagData));

56
flight/pios/common/pios_hmc5x83.c
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@ -224,7 +224,7 @@ int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3])
dev->data_ready = false;
uint8_t buffer[6];
int32_t temp;
int16_t temp[3];
int32_t sensitivity;
if (dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_XMSB_REG, buffer, 6) != 0) {
@ -259,16 +259,54 @@ int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3])
default:
PIOS_Assert(0);
}
for (int i = 0; i < 3; i++) {
temp = ((int16_t)((uint16_t)buffer[2 * i] << 8)
+ buffer[2 * i + 1]) * 1000 / sensitivity;
out[i] = temp;
int16_t v = ((int16_t)((uint16_t)buffer[2 * i] << 8)
+ buffer[2 * i + 1]) * 1000 / sensitivity;
temp[i] = v;
}
switch (dev->cfg->Orientation) {
case PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP:
out[0] = temp[2];
out[1] = temp[0];
out[2] = -temp[1];
break;
case PIOS_HMC5X83_ORIENTATION_SOUTH_EAST_UP:
out[0] = -temp[0];
out[1] = temp[2];
out[2] = -temp[1];
break;
case PIOS_HMC5X83_ORIENTATION_WEST_SOUTH_UP:
out[0] = -temp[2];
out[1] = -temp[0];
out[2] = -temp[1];
break;
case PIOS_HMC5X83_ORIENTATION_NORTH_WEST_UP:
out[0] = temp[0];
out[1] = -temp[2];
out[2] = -temp[1];
break;
case PIOS_HMC5X83_ORIENTATION_EAST_SOUTH_DOWN:
out[0] = temp[2];
out[1] = -temp[0];
out[2] = temp[1];
break;
case PIOS_HMC5X83_ORIENTATION_SOUTH_WEST_DOWN:
out[0] = -temp[0];
out[1] = -temp[2];
out[2] = temp[1];
break;
case PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN:
out[0] = -temp[2];
out[1] = temp[0];
out[2] = temp[1];
break;
case PIOS_HMC5X83_ORIENTATION_NORTH_EAST_DOWN:
out[0] = temp[0];
out[1] = temp[2];
out[2] = temp[1];
break;
}
// Data reads out as X,Z,Y
temp = out[2];
out[2] = out[1];
out[1] = temp;
// This should not be necessary but for some reason it is coming out of continuous conversion mode
dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_CONTINUOUS);

13
flight/pios/inc/pios_hmc5x83.h
View File

@ -109,6 +109,18 @@ extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_SPI_DRIVER;
#ifdef PIOS_INCLUDE_I2C
extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER;
#endif
// xyz axis orientation
enum PIOS_HMC5X83_ORIENTATION {
PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
PIOS_HMC5X83_ORIENTATION_SOUTH_EAST_UP,
PIOS_HMC5X83_ORIENTATION_WEST_SOUTH_UP,
PIOS_HMC5X83_ORIENTATION_NORTH_WEST_UP,
PIOS_HMC5X83_ORIENTATION_EAST_SOUTH_DOWN,
PIOS_HMC5X83_ORIENTATION_SOUTH_WEST_DOWN,
PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN,
PIOS_HMC5X83_ORIENTATION_NORTH_EAST_DOWN,
};
struct pios_hmc5x83_cfg {
#ifdef PIOS_HMC5X83_HAS_GPIOS
@ -119,6 +131,7 @@ struct pios_hmc5x83_cfg {
uint8_t Gain; // Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
uint8_t Mode;
bool TempCompensation; // enable temperature sensor on HMC5983 for temperature gain compensation
enum PIOS_HMC5X83_ORIENTATION Orientation;
const struct pios_hmc5x83_io_driver *Driver;
};

4
flight/pios/stm32f10x/pios_pwm.c
View File

@ -209,9 +209,7 @@ static void PIOS_PWM_tim_overflow_cb(__attribute__((unused)) uint32_t tim_id, ui
/* Channel out of range */
return;
}
if (!pwm_dev->CaptureState[channel]) {
return;
}
pwm_dev->us_since_update[channel] += count;
if (pwm_dev->us_since_update[channel] >= PWM_SUPERVISOR_TIMEOUT) {
pwm_dev->CaptureState[channel] = 0;

13
flight/targets/boards/discoveryf4bare/firmware/pios_board.c
View File

@ -124,12 +124,13 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
};
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
.exti_cfg = &pios_exti_hmc5x83_cfg,
.M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
.exti_cfg = &pios_exti_hmc5x83_cfg,
.M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
};
#endif /* PIOS_INCLUDE_HMC5X83 */

9
flight/targets/boards/gpsplatinum/board_hw_defs.c
View File

@ -246,14 +246,15 @@ static const struct pios_exti_cfg pios_exti_mag_cfg __exti_config = {
static const struct pios_hmc5x83_cfg pios_mag_cfg = {
#ifdef PIOS_HMC5X83_HAS_GPIOS
.exti_cfg = &pios_exti_mag_cfg,
.exti_cfg = &pios_exti_mag_cfg,
#endif
.M_ODR = PIOS_HMC5x83_ODR_30,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.M_ODR = PIOS_HMC5x83_ODR_30,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_3,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.Driver = &PIOS_HMC5x83_SPI_DRIVER,
.Driver = &PIOS_HMC5x83_SPI_DRIVER,
.TempCompensation = true,
.Orientation = PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN,
};
#endif /* PIOS_INCLUDE_HMC5883 */

13
flight/targets/boards/revolution/firmware/pios_board.c
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@ -132,12 +132,13 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
};
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
.exti_cfg = &pios_exti_hmc5x83_cfg,
.M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
.exti_cfg = &pios_exti_hmc5x83_cfg,
.M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
};
#endif /* PIOS_INCLUDE_HMC5X83 */

13
flight/targets/boards/revoproto/firmware/pios_board.c
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@ -122,12 +122,13 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
};
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
.exti_cfg = &pios_exti_hmc5x83_cfg,
.M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
.exti_cfg = &pios_exti_hmc5x83_cfg,
.M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
};
#endif /* PIOS_INCLUDE_HMC5X83 */

2186
ground/openpilotgcs/share/openpilotgcs/cloudconfig/multirotor/H-King320mmCarbonARF-Multirotor-QuadrocopterX-3fe218baaba.optmpl
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2186
ground/openpilotgcs/share/openpilotgcs/cloudconfig/multirotor/H-KingCarbon250ARF-Multirotor-QuadrocopterX-b91ae8ac277.optmpl
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2186
ground/openpilotgcs/share/openpilotgcs/cloudconfig/multirotor/HKingDYS250CarbonFib-Multirotor-QuadrocopterX-969354c51c1.optmpl Normal file
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2186
ground/openpilotgcs/share/openpilotgcs/cloudconfig/multirotor/HKingDYS320CarbonFib-Multirotor-QuadrocopterX-0b41edda68f.optmpl Normal file
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8
package/winx86/openpilotgcs.nsi
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@ -1,7 +1,7 @@
#
# Project: OpenPilot
# NSIS configuration file for OpenPilot GCS
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2010-2014.
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2010-2015.
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
@ -71,7 +71,7 @@
VIAddVersionKey "Comments" "${INSTALLER_NAME}. ${BUILD_DESCRIPTION}"
VIAddVersionKey "CompanyName" "The OpenPilot Team, http://www.openpilot.org"
VIAddVersionKey "LegalTrademarks" "${PRODUCT_NAME} is a trademark of The OpenPilot Team"
VIAddVersionKey "LegalCopyright" "© 2010-2014 The OpenPilot Team"
VIAddVersionKey "LegalCopyright" "© 2010-2015 The OpenPilot Team"
VIAddVersionKey "FileDescription" "${INSTALLER_NAME}"
;--------------------------------
@ -92,7 +92,7 @@
;--------------------------------
; Branding
BrandingText "© 2010-2014 The OpenPilot Team, http://www.openpilot.org"
BrandingText "© 2010-2015 The OpenPilot Team, http://www.openpilot.org"
!define MUI_ICON "${NSIS_DATA_TREE}\resources\openpilot.ico"
!define MUI_HEADERIMAGE
@ -296,7 +296,7 @@ Section ; create uninstall info
WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "UninstallString" '"$INSTDIR\Uninstall.exe"'
WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "DisplayIcon" '"$INSTDIR\bin\openpilotgcs.exe"'
WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "Publisher" "OpenPilot Team"
WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "DisplayVersion" "Mini Me"
WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "DisplayVersion" "Ragin’ Cajun"
WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "URLInfoAbout" "http://www.openpilot.org"
WriteRegStr HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "HelpLink" "http://wiki.openpilot.org"
WriteRegDWORD HKCU "Software\Microsoft\Windows\CurrentVersion\Uninstall\OpenPilot" "EstimatedSize" 100600

2
package/winx86/openpilotgcs.tpl
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@ -2,7 +2,7 @@
# *****************************************************************************
#
# @file ${OUTFILENAME}
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011-2015.
# @brief Autogenerated NSIS header file, built using template
# ${TEMPLATE}
#

6
shared/uavobjectdefinition/stabilizationbank.xml
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@ -9,9 +9,9 @@
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="StickExpo" units="percent" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0" limits="%BE:-100:100; %BE:-100:100; %BE:-100:100"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.015 ; ; "/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.025; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.025; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.025 ; ; "/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit"/>

6
shared/uavobjectdefinition/stabilizationsettingsbank1.xml
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@ -9,9 +9,9 @@
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="StickExpo" units="percent" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0" limits="%BE:-100:100; %BE:-100:100; %BE:-100:100"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.015 ; ; "/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.025; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.025; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.025 ; ; "/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>

6
shared/uavobjectdefinition/stabilizationsettingsbank2.xml
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@ -9,9 +9,9 @@
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="StickExpo" units="percent" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0" limits="%BE:-100:100; %BE:-100:100; %BE:-100:100"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.015 ; ; "/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.025; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.025; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.025 ; ; "/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>

6
shared/uavobjectdefinition/stabilizationsettingsbank3.xml
View File

@ -9,9 +9,9 @@
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="StickExpo" units="percent" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0" limits="%BE:-100:100; %BE:-100:100; %BE:-100:100"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.015 ; ; "/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.025; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.025; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.025 ; ; "/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>