From 6e942d786a752be1b1c40a7632b094d68af32afd Mon Sep 17 00:00:00 2001
From: loris <loris>
Date: Sun, 27 Feb 2011 00:38:59 +0000
Subject: [PATCH] OP-316 UAVObject Fix typo, indents, units, default values

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2896 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 .../uavobjectdefinition/ahrscalibration.xml   |  8 ++--
 .../uavobjectdefinition/attitudesettings.xml  |  4 +-
 .../flightplansettings.xml                    |  4 +-
 .../uavobjectdefinition/flightplanstatus.xml  | 22 +++++-----
 shared/uavobjectdefinition/gpstime.xml        |  2 +-
 .../uavobjectdefinition/guidancesettings.xml  | 10 ++---
 shared/uavobjectdefinition/i2cstats.xml       |  2 +-
 .../manualcontrolsettings.xml                 |  2 +-
 shared/uavobjectdefinition/mixersettings.xml  |  2 +-
 .../uavobjectdefinition/objectpersistence.xml |  2 +-
 shared/uavobjectdefinition/positionactual.xml |  2 +-
 .../stabilizationsettings.xml                 | 40 +++++++++----------
 shared/uavobjectdefinition/systemsettings.xml |  2 +-
 shared/uavobjectdefinition/systemstats.xml    |  2 +-
 .../uavobjectdefinition/telemetrysettings.xml |  2 +-
 shared/uavobjectdefinition/velocityactual.xml |  2 +-
 16 files changed, 54 insertions(+), 54 deletions(-)

diff --git a/shared/uavobjectdefinition/ahrscalibration.xml b/shared/uavobjectdefinition/ahrscalibration.xml
index 3e5e5699c..6630f7187 100644
--- a/shared/uavobjectdefinition/ahrscalibration.xml
+++ b/shared/uavobjectdefinition/ahrscalibration.xml
@@ -3,20 +3,20 @@
         <description>Contains the calibration settings for the @ref AHRSCommsModule</description>
         <field name="measure_var" units="" type="enum" elements="1" options="SET,MEASURE" defaultvalue="SET"/>
         <field name="accel_bias" units="m/s^2" type="float" elementnames="X,Y,Z" defaultvalue="-73.5,-73.5,73.5"/>
-        <field name="accel_scale" units="m/s^2" type="float" elementnames="X,Y,Z" defaultvalue="0.0359,0.0359,-0.0359"/>
+        <field name="accel_scale" units="(m/s^2)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="0.0359,0.0359,-0.0359"/>
         <field name="accel_var" units="(m/s^2)^2" type="float" elementnames="X,Y,Z" defaultvalue="5e-4"/>
         <field name="gyro_bias" units="rad/s" type="float" elementnames="X,Y,Z" defaultvalue="23,-23,23"/>
-        <field name="gyro_scale" units="rad/s" type="float" elementnames="X,Y,Z" defaultvalue="-0.017,0.017,-0.017"/>
+        <field name="gyro_scale" units="(rad/s)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="-0.017,0.017,-0.017"/>
         <field name="gyro_var" units="(rad/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1e-4"/>
         <field name="gyro_tempcompfactor" units="raw/raw" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
         <field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
-        <field name="mag_scale" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="-2"/>
+        <field name="mag_scale" units="(mGau)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="-2"/>
         <field name="mag_var" units="mGau^2" type="float" elementnames="X,Y,Z" defaultvalue="50"/>
         <field name="vel_var" units="(m/s)^2" type="float" elements="1" defaultvalue="0.4"/>
         <field name="pos_var" units="m^2" type="float" elements="1" defaultvalue="0.4"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>
-		<logging updatemode="never" period="0"/>
+	<logging updatemode="never" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/attitudesettings.xml b/shared/uavobjectdefinition/attitudesettings.xml
index 4f533b3db..40cdf239d 100644
--- a/shared/uavobjectdefinition/attitudesettings.xml
+++ b/shared/uavobjectdefinition/attitudesettings.xml
@@ -9,5 +9,5 @@
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>
         <logging updatemode="never" period="0"/>
-	</object>
-</xml>
\ No newline at end of file
+    </object>
+</xml>
diff --git a/shared/uavobjectdefinition/flightplansettings.xml b/shared/uavobjectdefinition/flightplansettings.xml
index 7baf99e3d..d4c16ec7f 100644
--- a/shared/uavobjectdefinition/flightplansettings.xml
+++ b/shared/uavobjectdefinition/flightplansettings.xml
@@ -2,9 +2,9 @@
     <object name="FlightPlanSettings" singleinstance="true" settings="true">
         <description>Settings for the flight plan module, control the execution of the script</description>
         <field name="Test" units="" type="float" elements="1" defaultvalue="0.0"/>
-		<access gcs="readwrite" flight="readwrite"/>
+        <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>
         <logging updatemode="never" period="0"/>
-	</object>
+    </object>
 </xml>
diff --git a/shared/uavobjectdefinition/flightplanstatus.xml b/shared/uavobjectdefinition/flightplanstatus.xml
index 40a1fc3c4..369c9b664 100644
--- a/shared/uavobjectdefinition/flightplanstatus.xml
+++ b/shared/uavobjectdefinition/flightplanstatus.xml
@@ -1,15 +1,15 @@
 <xml>
     <object name="FlightPlanStatus" singleinstance="true" settings="false">
-		<description>Status of the flight plan script</description>
-		<field name="Status" units="" type="enum" elements="1" options="Stopped,Running,Error" defaultvalue="Stopped"/>
-    <field name="ErrorType" units="" type="enum" elements="1" options="None,VMInitError,Exception,IOError,DivByZero,AssertError,AttributeError,ImportError,IndexError,KeyError,MemoryError,NameError,SyntaxError,SystemError,TypeError,ValueError,StopIteration,Warning,UnknownError" defaultvalue="None"/>
-		<field name="ErrorFileID" units="" type="uint32" elements="1"/>
-		<field name="ErrorLineNum" units="" type="uint32" elements="1"/>
-		<field name="Debug1" units="" type="float" elements="1" defaultvalue="0.0"/>
-		<field name="Debug2" units="" type="float" elements="1" defaultvalue="0.0"/>
-    <access gcs="readwrite" flight="readwrite"/>
-    <telemetrygcs acked="false" updatemode="manual" period="0"/>
-    <telemetryflight acked="false" updatemode="periodic" period="2000"/>
-    <logging updatemode="never" period="0"/>
+        <description>Status of the flight plan script</description>
+        <field name="Status" units="" type="enum" elements="1" options="Stopped,Running,Error" defaultvalue="Stopped"/>
+        <field name="ErrorType" units="" type="enum" elements="1" options="None,VMInitError,Exception,IOError,DivByZero,AssertError,AttributeError,ImportError,IndexError,KeyError,MemoryError,NameError,SyntaxError,SystemError,TypeError,ValueError,StopIteration,Warning,UnknownError" defaultvalue="None"/>
+        <field name="ErrorFileID" units="" type="uint32" elements="1"/>
+        <field name="ErrorLineNum" units="" type="uint32" elements="1"/>
+        <field name="Debug1" units="" type="float" elements="1" defaultvalue="0.0"/>
+        <field name="Debug2" units="" type="float" elements="1" defaultvalue="0.0"/>
+        <access gcs="readwrite" flight="readwrite"/>
+        <telemetrygcs acked="false" updatemode="manual" period="0"/>
+        <telemetryflight acked="false" updatemode="periodic" period="2000"/>
+        <logging updatemode="never" period="0"/>
     </object>
 </xml>
diff --git a/shared/uavobjectdefinition/gpstime.xml b/shared/uavobjectdefinition/gpstime.xml
index f4b7ebee4..c397a5108 100644
--- a/shared/uavobjectdefinition/gpstime.xml
+++ b/shared/uavobjectdefinition/gpstime.xml
@@ -11,5 +11,5 @@
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="10000"/>
         <logging updatemode="periodic" period="30000"/>
-	</object>
+    </object>
 </xml>
diff --git a/shared/uavobjectdefinition/guidancesettings.xml b/shared/uavobjectdefinition/guidancesettings.xml
index e898cc701..3788b00ad 100644
--- a/shared/uavobjectdefinition/guidancesettings.xml
+++ b/shared/uavobjectdefinition/guidancesettings.xml
@@ -2,12 +2,12 @@
     <object name="GuidanceSettings" singleinstance="true" settings="true">
         <description>Settings for the @ref GuidanceModule</description>
         <field name="GuidanceMode" units="" type="enum" elements="1" options="DUAL_LOOP,VELOCITY_CONTROL" defaultvalue="DUAL_LOOP"/>
-        <field name="HorizontalP" units="(m/s)/m" type="float" elements="1" elementnames="Kp,Max" defaultvalue="0.2,200"/>
-        <field name="HorizontalVelPID" units="" type="float" elements="4" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0,0,0"/>
-        <field name="VerticalP" units="" type="float" elements="1" elementnames="Kp,Max" defaultvalue="0.1,200"/>
-        <field name="VerticalVelPID" units="(m/s)/m" type="float" elements="4" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0,0,0"/>
+        <field name="HorizontalP" units="" type="float" elementnames="Kp,Max" defaultvalue="0.2,150"/>
+        <field name="HorizontalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0.002,0,1000"/>
+        <field name="VerticalP" units="" type="float" elementnames="Kp,Max" defaultvalue="0.1,200"/>
+        <field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0,0,0"/>
         <field name="ThrottleControl" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
-	<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="10"/>
+        <field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="10"/>
         <field name="UpdatePeriod" units="" type="int32" elements="1" defaultvalue="100"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
diff --git a/shared/uavobjectdefinition/i2cstats.xml b/shared/uavobjectdefinition/i2cstats.xml
index 2c6cee3c0..40663eba6 100644
--- a/shared/uavobjectdefinition/i2cstats.xml
+++ b/shared/uavobjectdefinition/i2cstats.xml
@@ -15,5 +15,5 @@
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="10000"/>
         <logging updatemode="periodic" period="30000"/>
-	</object>
+    </object>
 </xml>
diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml
index a7dfffc84..c78c0015d 100644
--- a/shared/uavobjectdefinition/manualcontrolsettings.xml
+++ b/shared/uavobjectdefinition/manualcontrolsettings.xml
@@ -25,5 +25,5 @@
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>
         <logging updatemode="never" period="0"/>
-	</object>
+    </object>
 </xml>
diff --git a/shared/uavobjectdefinition/mixersettings.xml b/shared/uavobjectdefinition/mixersettings.xml
index 18681d837..efe48d090 100644
--- a/shared/uavobjectdefinition/mixersettings.xml
+++ b/shared/uavobjectdefinition/mixersettings.xml
@@ -27,5 +27,5 @@
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>
         <logging updatemode="never" period="0"/>
-	</object>
+    </object>
 </xml>
diff --git a/shared/uavobjectdefinition/objectpersistence.xml b/shared/uavobjectdefinition/objectpersistence.xml
index 4dc04cd1d..85d84bfd8 100644
--- a/shared/uavobjectdefinition/objectpersistence.xml
+++ b/shared/uavobjectdefinition/objectpersistence.xml
@@ -9,5 +9,5 @@
         <telemetrygcs acked="true" updatemode="manual" period="0"/>
         <telemetryflight acked="true" updatemode="manual" period="0"/>
         <logging updatemode="never" period="0"/>
-	</object>
+    </object>
 </xml>
diff --git a/shared/uavobjectdefinition/positionactual.xml b/shared/uavobjectdefinition/positionactual.xml
index 7f72b7297..5fbf4d01c 100644
--- a/shared/uavobjectdefinition/positionactual.xml
+++ b/shared/uavobjectdefinition/positionactual.xml
@@ -8,5 +8,5 @@
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>
         <logging updatemode="periodic" period="1000"/>
-	</object>
+    </object>
 </xml>
diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml
index e9f917f73..bc339fdcd 100644
--- a/shared/uavobjectdefinition/stabilizationsettings.xml
+++ b/shared/uavobjectdefinition/stabilizationsettings.xml
@@ -1,22 +1,22 @@
 <xml>
-	<object name="StabilizationSettings" singleinstance="true" settings="true">
-		<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
-		<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
-		<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
-		<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
-		<field name="ManualRate" units="degrees/sec" type="float" elements="3" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150"/>
-		<field name="MaximumRate" units="degrees/sec" type="float" elements="3" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300"/>
-		
-		<field name="RollRatePI" units="" type="float" elements="2" elementnames="Kp,Ki,ILimit" defaultvalue="0.0015,0,0.5"/>
-		<field name="PitchRatePI" units="" type="float" elements="2" elementnames="Kp,Ki,ILimit" defaultvalue="0.0015,0,0.5"/>
-		<field name="YawRatePI" units="" type="float" elements="2" elementnames="Kp,Ki,ILimit" defaultvalue="0.003,0,0.5"/>
-		<field name="RollPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,0.5"/>
-		<field name="PitchPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,0.5"/>
-		<field name="YawPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,0.5"/>
-		
-		<access gcs="readwrite" flight="readwrite"/>
-		<telemetrygcs acked="true" updatemode="onchange" period="0"/>
-		<telemetryflight acked="true" updatemode="onchange" period="0"/>
-		<logging updatemode="never" period="0"/>
-	</object>
+    <object name="StabilizationSettings" singleinstance="true" settings="true">
+        <description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
+	<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
+	<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
+	<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
+	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150"/>
+	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300"/>
+
+	<field name="RollRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.0015,0,0.3"/>
+	<field name="PitchRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.0015,0,0.3"/>
+	<field name="YawRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.003,0,0.3"/>
+	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
+	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
+	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
+	
+	<access gcs="readwrite" flight="readwrite"/>
+	<telemetrygcs acked="true" updatemode="onchange" period="0"/>
+	<telemetryflight acked="true" updatemode="onchange" period="0"/>
+	<logging updatemode="never" period="0"/>
+    </object>
 </xml>
diff --git a/shared/uavobjectdefinition/systemsettings.xml b/shared/uavobjectdefinition/systemsettings.xml
index 165229c7c..c8342a753 100644
--- a/shared/uavobjectdefinition/systemsettings.xml
+++ b/shared/uavobjectdefinition/systemsettings.xml
@@ -6,5 +6,5 @@
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>
         <logging updatemode="never" period="0"/>
-	</object>
+    </object>
 </xml>
diff --git a/shared/uavobjectdefinition/systemstats.xml b/shared/uavobjectdefinition/systemstats.xml
index 118bcb244..a34541858 100644
--- a/shared/uavobjectdefinition/systemstats.xml
+++ b/shared/uavobjectdefinition/systemstats.xml
@@ -9,5 +9,5 @@
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>
         <logging updatemode="periodic" period="1000"/>
-	</object>
+    </object>
 </xml>
diff --git a/shared/uavobjectdefinition/telemetrysettings.xml b/shared/uavobjectdefinition/telemetrysettings.xml
index 0654651e3..d19c03c55 100644
--- a/shared/uavobjectdefinition/telemetrysettings.xml
+++ b/shared/uavobjectdefinition/telemetrysettings.xml
@@ -6,5 +6,5 @@
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>
         <logging updatemode="never" period="0"/>
-	</object>
+    </object>
 </xml>
diff --git a/shared/uavobjectdefinition/velocityactual.xml b/shared/uavobjectdefinition/velocityactual.xml
index 6a90ee3f1..94ac75903 100644
--- a/shared/uavobjectdefinition/velocityactual.xml
+++ b/shared/uavobjectdefinition/velocityactual.xml
@@ -1,6 +1,6 @@
 <xml>
     <object name="VelocityActual" singleinstance="true" settings="false">
-        <description>Updated by @ref AHRSCommsModule and used within @ref GuidanceModulefor velocity control</description>
+        <description>Updated by @ref AHRSCommsModule and used within @ref GuidanceModule for velocity control</description>
         <field name="North" units="cm/s" type="int32" elements="1"/>
         <field name="East" units="cm/s" type="int32" elements="1"/>
         <field name="Down" units="cm/s" type="int32" elements="1"/>