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https://bitbucket.org/librepilot/librepilot.git
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Stabilization: Changed to new switch format. Both position and rate modes work.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1886 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
les
les
parent
1e26ca11ee
commit
7ddb0f6f80
@ -142,15 +142,30 @@ static void stabilizationTask(void* parameters)
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SystemSettingsGet(&systemSettings);
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float *manualAxis = &manualControl.Roll;
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float *attitudeDesiredAxis = &attitudeDesired.Roll;
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float *attitudeActualAxis = &attitudeActual.Roll;
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float *actuatorDesiredAxis = &actuatorDesired.Roll;
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//Calculate desired rate
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float rates[MAX_AXES]= {0,0,0};
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rates[ROLL] = ApplyPid(&pids[PID_ROLL], attitudeDesired.Roll, attitudeActual.Roll ,false);
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rates[PITCH] = ApplyPid(&pids[PID_PITCH], attitudeDesired.Pitch, attitudeActual.Pitch,false);
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if(settings.YawMode == LESSTABILIZATIONSETTINGS_YAWMODE_RATE) { // rate stabilization on yaw
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rates[YAW] = manualControl.Yaw * settings.ManualYawRate;
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}else{
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rates[YAW] = ApplyPid(&pids[PID_YAW], attitudeDesired.Yaw, attitudeActual.Yaw,true);
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for(int ct=0; ct< MAX_AXES; ct++)
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{
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switch(manualControl.StabilizationSettings[ct])
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{
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case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE:
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rates[ct] = manualAxis[ct] * settings.ManualRate[ct];
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break;
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case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION:
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rates[ct] = ApplyPid(&pids[PID_ROLL + ct], attitudeDesiredAxis[ct], attitudeActualAxis[ct], true);
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break;
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}
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}
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bool shouldUpdate = false;
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ActuatorDesiredGet(&actuatorDesired);
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//Calculate desired command
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for(int ct=0; ct< MAX_AXES; ct++)
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{
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if(fabs(rates[ct]) > settings.MaximumRate[ct])
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@ -164,39 +179,38 @@ static void stabilizationTask(void* parameters)
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}
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}
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switch(manualControl.StabilizationSettings[ct])
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{
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case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE:
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case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION:
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{
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float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rates[ct], attitudeRaw.gyros_filtered[ct], false);
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actuatorDesiredAxis[ct] = bound(command);
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shouldUpdate = true;
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break;
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}
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}
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}
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if(manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL)
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{
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shouldUpdate = false;
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}
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float commands[MAX_AXES];
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commands[ROLL] = ApplyPid(&pids[PID_RATE_ROLL], attitudeRaw.gyros_filtered[ROLL], rates[ROLL],false);
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commands[PITCH] = ApplyPid(&pids[PID_RATE_PITCH], attitudeRaw.gyros_filtered[PITCH], rates[PITCH],false);
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commands[YAW] = ApplyPid(&pids[PID_RATE_YAW], attitudeRaw.gyros_filtered[YAW], rates[YAW],false);
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// On fixed wing we don't try to stabilizew yaw
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if ( systemSettings.AirframeType < SYSTEMSETTINGS_AIRFRAMETYPE_VTOL)
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{
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commands[YAW] = -manualControl.Yaw;
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}
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actuatorDesired.Pitch = bound(-commands[PITCH]);
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actuatorDesired.Roll = bound(-commands[ROLL]);
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actuatorDesired.Yaw = bound(-commands[YAW]);
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// Setup throttle
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actuatorDesired.Throttle = attitudeDesired.Throttle;
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// Save dT
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actuatorDesired.UpdateTime = dT * 1000;
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// Write actuator desired (if not in manual mode)
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if ( manualControl.FlightMode != MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL )
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if(shouldUpdate)
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{
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actuatorDesired.Throttle = attitudeDesired.Throttle;
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ActuatorDesiredSet(&actuatorDesired);
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}
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else
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if(manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_FALSE ||
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!shouldUpdate)
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{
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ZeroPids();
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}
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// Save dT
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actuatorDesired.UpdateTime = dT * 1000;
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// Clear alarms
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AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
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}
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@ -258,15 +272,9 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
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{
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memset(pids,0,sizeof (pid_type) * PID_MAX);
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LesStabilizationSettingsGet(&settings);
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pids[PID_RATE_ROLL].p = settings.RollRateP;
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pids[PID_RATE_PITCH].p = settings.PitchRateP;
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pids[PID_RATE_YAW].p = settings.YawRatePI[LESSTABILIZATIONSETTINGS_YAWRATEPI_KP];
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pids[PID_RATE_YAW].i = settings.YawRatePI[LESSTABILIZATIONSETTINGS_YAWRATEPI_KI];
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pids[PID_RATE_YAW].iLim = settings.YawRatePI[LESSTABILIZATIONSETTINGS_YAWRATEPI_ILIMIT];
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float * data = settings.RollPI;
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for(int pid=PID_ROLL; pid < PID_MAX; pid++)
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float * data = settings.RollRatePI;
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for(int pid=0; pid < PID_MAX; pid++)
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{
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pids[pid].p = *data++;
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pids[pid].i = *data++;
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@ -41,7 +41,7 @@
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#define LESSTABILIZATIONSETTINGS_H
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// Object constants
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#define LESSTABILIZATIONSETTINGS_OBJID 2839831188U
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#define LESSTABILIZATIONSETTINGS_OBJID 3247121950U
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#define LESSTABILIZATIONSETTINGS_NAME "LesStabilizationSettings"
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#define LESSTABILIZATIONSETTINGS_METANAME "LesStabilizationSettingsMeta"
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#define LESSTABILIZATIONSETTINGS_ISSINGLEINST 1
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@ -75,11 +75,10 @@ typedef struct {
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uint8_t RollMax;
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uint8_t PitchMax;
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uint8_t YawMax;
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uint8_t YawMode;
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float ManualYawRate;
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float ManualRate[3];
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float MaximumRate[3];
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float RollRateP;
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float PitchRateP;
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float RollRatePI[3];
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float PitchRatePI[3];
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float YawRatePI[3];
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float RollPI[3];
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float PitchPI[3];
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@ -92,17 +91,26 @@ typedef struct {
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// Field RollMax information
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// Field PitchMax information
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// Field YawMax information
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// Field YawMode information
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/* Enumeration options for field YawMode */
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typedef enum { LESSTABILIZATIONSETTINGS_YAWMODE_RATE=0, LESSTABILIZATIONSETTINGS_YAWMODE_HEADING=1 } LesStabilizationSettingsYawModeOptions;
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// Field ManualYawRate information
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// Field ManualRate information
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/* Array element names for field ManualRate */
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typedef enum { LESSTABILIZATIONSETTINGS_MANUALRATE_ROLL=0, LESSTABILIZATIONSETTINGS_MANUALRATE_PITCH=1, LESSTABILIZATIONSETTINGS_MANUALRATE_YAW=2 } LesStabilizationSettingsManualRateElem;
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/* Number of elements for field ManualRate */
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#define LESSTABILIZATIONSETTINGS_MANUALRATE_NUMELEM 3
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// Field MaximumRate information
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/* Array element names for field MaximumRate */
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typedef enum { LESSTABILIZATIONSETTINGS_MAXIMUMRATE_ROLL=0, LESSTABILIZATIONSETTINGS_MAXIMUMRATE_PITCH=1, LESSTABILIZATIONSETTINGS_MAXIMUMRATE_YAW=2 } LesStabilizationSettingsMaximumRateElem;
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/* Number of elements for field MaximumRate */
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#define LESSTABILIZATIONSETTINGS_MAXIMUMRATE_NUMELEM 3
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// Field RollRateP information
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// Field PitchRateP information
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// Field RollRatePI information
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/* Array element names for field RollRatePI */
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typedef enum { LESSTABILIZATIONSETTINGS_ROLLRATEPI_KP=0, LESSTABILIZATIONSETTINGS_ROLLRATEPI_KI=1, LESSTABILIZATIONSETTINGS_ROLLRATEPI_ILIMIT=2 } LesStabilizationSettingsRollRatePIElem;
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/* Number of elements for field RollRatePI */
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#define LESSTABILIZATIONSETTINGS_ROLLRATEPI_NUMELEM 3
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// Field PitchRatePI information
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/* Array element names for field PitchRatePI */
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typedef enum { LESSTABILIZATIONSETTINGS_PITCHRATEPI_KP=0, LESSTABILIZATIONSETTINGS_PITCHRATEPI_KI=1, LESSTABILIZATIONSETTINGS_PITCHRATEPI_ILIMIT=2 } LesStabilizationSettingsPitchRatePIElem;
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/* Number of elements for field PitchRatePI */
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#define LESSTABILIZATIONSETTINGS_PITCHRATEPI_NUMELEM 3
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// Field YawRatePI information
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/* Array element names for field YawRatePI */
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typedef enum { LESSTABILIZATIONSETTINGS_YAWRATEPI_KP=0, LESSTABILIZATIONSETTINGS_YAWRATEPI_KI=1, LESSTABILIZATIONSETTINGS_YAWRATEPI_ILIMIT=2 } LesStabilizationSettingsYawRatePIElem;
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@ -84,25 +84,30 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
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data.RollMax = 35;
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data.PitchMax = 35;
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data.YawMax = 35;
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data.YawMode = 0;
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data.ManualYawRate = 200;
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data.ManualRate[0] = 150;
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data.ManualRate[1] = 150;
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data.ManualRate[2] = 150;
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data.MaximumRate[0] = 300;
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data.MaximumRate[1] = 300;
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data.MaximumRate[2] = 300;
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data.RollRateP = 0.0015;
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data.PitchRateP = 0.0015;
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data.RollRatePI[0] = 0.0015;
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data.RollRatePI[1] = 0;
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data.RollRatePI[2] = 0.5;
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data.PitchRatePI[0] = 0.0015;
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data.PitchRatePI[1] = 0;
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data.PitchRatePI[2] = 0.5;
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data.YawRatePI[0] = 0.003;
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data.YawRatePI[1] = 0.003;
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data.YawRatePI[2] = 0.003;
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data.RollPI[0] = 0;
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data.YawRatePI[1] = 0;
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data.YawRatePI[2] = 0.5;
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data.RollPI[0] = 2;
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data.RollPI[1] = 0;
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data.RollPI[2] = 0;
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data.PitchPI[0] = 0;
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data.RollPI[2] = 0.5;
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data.PitchPI[0] = 2;
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data.PitchPI[1] = 0;
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data.PitchPI[2] = 0;
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data.YawPI[0] = 0;
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data.PitchPI[2] = 0.5;
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data.YawPI[0] = 2;
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data.YawPI[1] = 0;
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data.YawPI[2] = 0;
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data.YawPI[2] = 0.5;
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UAVObjSetInstanceData(obj, instId, &data);
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@ -47,33 +47,33 @@ LesStabilizationSettings::LesStabilizationSettings(): UAVDataObject(OBJID, ISSIN
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fields.append( new UAVObjectField(QString("UpdatePeriod"), QString("ms"), UAVObjectField::UINT8, UpdatePeriodElemNames, QStringList()) );
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QStringList RollMaxElemNames;
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RollMaxElemNames.append("0");
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fields.append( new UAVObjectField(QString("RollMax"), QString("degrees"), UAVObjectField::UINT8, RollMaxElemNames, QStringList()) );
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fields.append( new UAVObjectField(QString("RollMax"), QString("Degrees"), UAVObjectField::UINT8, RollMaxElemNames, QStringList()) );
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QStringList PitchMaxElemNames;
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PitchMaxElemNames.append("0");
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fields.append( new UAVObjectField(QString("PitchMax"), QString("degrees"), UAVObjectField::UINT8, PitchMaxElemNames, QStringList()) );
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fields.append( new UAVObjectField(QString("PitchMax"), QString("Degrees"), UAVObjectField::UINT8, PitchMaxElemNames, QStringList()) );
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QStringList YawMaxElemNames;
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YawMaxElemNames.append("0");
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fields.append( new UAVObjectField(QString("YawMax"), QString("degrees"), UAVObjectField::UINT8, YawMaxElemNames, QStringList()) );
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QStringList YawModeElemNames;
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YawModeElemNames.append("0");
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QStringList YawModeEnumOptions;
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YawModeEnumOptions.append("rate");
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YawModeEnumOptions.append("heading");
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fields.append( new UAVObjectField(QString("YawMode"), QString(""), UAVObjectField::ENUM, YawModeElemNames, YawModeEnumOptions) );
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QStringList ManualYawRateElemNames;
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ManualYawRateElemNames.append("0");
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fields.append( new UAVObjectField(QString("ManualYawRate"), QString("Degrees/sec"), UAVObjectField::FLOAT32, ManualYawRateElemNames, QStringList()) );
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fields.append( new UAVObjectField(QString("YawMax"), QString("Degrees"), UAVObjectField::UINT8, YawMaxElemNames, QStringList()) );
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QStringList ManualRateElemNames;
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ManualRateElemNames.append("Roll");
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ManualRateElemNames.append("Pitch");
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ManualRateElemNames.append("Yaw");
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fields.append( new UAVObjectField(QString("ManualRate"), QString("Degrees/sec"), UAVObjectField::FLOAT32, ManualRateElemNames, QStringList()) );
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QStringList MaximumRateElemNames;
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MaximumRateElemNames.append("Roll");
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MaximumRateElemNames.append("Pitch");
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MaximumRateElemNames.append("Yaw");
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fields.append( new UAVObjectField(QString("MaximumRate"), QString("Degrees/sec"), UAVObjectField::FLOAT32, MaximumRateElemNames, QStringList()) );
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QStringList RollRatePElemNames;
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RollRatePElemNames.append("0");
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fields.append( new UAVObjectField(QString("RollRateP"), QString(""), UAVObjectField::FLOAT32, RollRatePElemNames, QStringList()) );
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QStringList PitchRatePElemNames;
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PitchRatePElemNames.append("0");
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fields.append( new UAVObjectField(QString("PitchRateP"), QString(""), UAVObjectField::FLOAT32, PitchRatePElemNames, QStringList()) );
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QStringList RollRatePIElemNames;
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RollRatePIElemNames.append("Kp");
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RollRatePIElemNames.append("Ki");
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RollRatePIElemNames.append("ILimit");
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fields.append( new UAVObjectField(QString("RollRatePI"), QString(""), UAVObjectField::FLOAT32, RollRatePIElemNames, QStringList()) );
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QStringList PitchRatePIElemNames;
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PitchRatePIElemNames.append("Kp");
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PitchRatePIElemNames.append("Ki");
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PitchRatePIElemNames.append("ILimit");
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fields.append( new UAVObjectField(QString("PitchRatePI"), QString(""), UAVObjectField::FLOAT32, PitchRatePIElemNames, QStringList()) );
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QStringList YawRatePIElemNames;
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YawRatePIElemNames.append("Kp");
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YawRatePIElemNames.append("Ki");
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@ -131,25 +131,30 @@ void LesStabilizationSettings::setDefaultFieldValues()
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data.RollMax = 35;
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data.PitchMax = 35;
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data.YawMax = 35;
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data.YawMode = 0;
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data.ManualYawRate = 200;
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data.ManualRate[0] = 150;
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data.ManualRate[1] = 150;
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data.ManualRate[2] = 150;
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data.MaximumRate[0] = 300;
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data.MaximumRate[1] = 300;
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data.MaximumRate[2] = 300;
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data.RollRateP = 0.0015;
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data.PitchRateP = 0.0015;
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data.RollRatePI[0] = 0.0015;
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data.RollRatePI[1] = 0;
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data.RollRatePI[2] = 0.5;
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data.PitchRatePI[0] = 0.0015;
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data.PitchRatePI[1] = 0;
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data.PitchRatePI[2] = 0.5;
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data.YawRatePI[0] = 0.003;
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data.YawRatePI[1] = 0.003;
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data.YawRatePI[2] = 0.003;
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data.RollPI[0] = 0;
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data.YawRatePI[1] = 0;
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data.YawRatePI[2] = 0.5;
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data.RollPI[0] = 2;
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data.RollPI[1] = 0;
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data.RollPI[2] = 0;
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data.PitchPI[0] = 0;
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data.RollPI[2] = 0.5;
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data.PitchPI[0] = 2;
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data.PitchPI[1] = 0;
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data.PitchPI[2] = 0;
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data.YawPI[0] = 0;
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data.PitchPI[2] = 0.5;
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data.YawPI[0] = 2;
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data.YawPI[1] = 0;
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data.YawPI[2] = 0;
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data.YawPI[2] = 0.5;
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}
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@ -47,11 +47,10 @@ public:
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quint8 RollMax;
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quint8 PitchMax;
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quint8 YawMax;
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quint8 YawMode;
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float ManualYawRate;
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float ManualRate[3];
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float MaximumRate[3];
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float RollRateP;
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float PitchRateP;
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float RollRatePI[3];
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float PitchRatePI[3];
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float YawRatePI[3];
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float RollPI[3];
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float PitchPI[3];
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@ -64,17 +63,26 @@ public:
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// Field RollMax information
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// Field PitchMax information
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// Field YawMax information
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// Field YawMode information
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/* Enumeration options for field YawMode */
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typedef enum { YAWMODE_RATE=0, YAWMODE_HEADING=1 } YawModeOptions;
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// Field ManualYawRate information
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// Field ManualRate information
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/* Array element names for field ManualRate */
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typedef enum { MANUALRATE_ROLL=0, MANUALRATE_PITCH=1, MANUALRATE_YAW=2 } ManualRateElem;
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/* Number of elements for field ManualRate */
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static const quint32 MANUALRATE_NUMELEM = 3;
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// Field MaximumRate information
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/* Array element names for field MaximumRate */
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typedef enum { MAXIMUMRATE_ROLL=0, MAXIMUMRATE_PITCH=1, MAXIMUMRATE_YAW=2 } MaximumRateElem;
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/* Number of elements for field MaximumRate */
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static const quint32 MAXIMUMRATE_NUMELEM = 3;
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// Field RollRateP information
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// Field PitchRateP information
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// Field RollRatePI information
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/* Array element names for field RollRatePI */
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typedef enum { ROLLRATEPI_KP=0, ROLLRATEPI_KI=1, ROLLRATEPI_ILIMIT=2 } RollRatePIElem;
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/* Number of elements for field RollRatePI */
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static const quint32 ROLLRATEPI_NUMELEM = 3;
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// Field PitchRatePI information
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/* Array element names for field PitchRatePI */
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typedef enum { PITCHRATEPI_KP=0, PITCHRATEPI_KI=1, PITCHRATEPI_ILIMIT=2 } PitchRatePIElem;
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/* Number of elements for field PitchRatePI */
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static const quint32 PITCHRATEPI_NUMELEM = 3;
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// Field YawRatePI information
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/* Array element names for field YawRatePI */
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typedef enum { YAWRATEPI_KP=0, YAWRATEPI_KI=1, YAWRATEPI_ILIMIT=2 } YawRatePIElem;
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@ -98,7 +106,7 @@ public:
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// Constants
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static const quint32 OBJID = 2839831188U;
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static const quint32 OBJID = 3247121950U;
|
||||
static const QString NAME;
|
||||
static const bool ISSINGLEINST = 1;
|
||||
static const bool ISSETTINGS = 1;
|
||||
|
||||
@ -78,23 +78,13 @@ _fields = [ \
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'YawMode',
|
||||
'b',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
'0' : 'rate',
|
||||
'1' : 'heading',
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'ManualYawRate',
|
||||
'ManualRate',
|
||||
'f',
|
||||
1,
|
||||
3,
|
||||
[
|
||||
'0',
|
||||
'Roll',
|
||||
'Pitch',
|
||||
'Yaw',
|
||||
],
|
||||
{
|
||||
}
|
||||
@ -112,21 +102,25 @@ _fields = [ \
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'RollRateP',
|
||||
'RollRatePI',
|
||||
'f',
|
||||
1,
|
||||
3,
|
||||
[
|
||||
'0',
|
||||
'Kp',
|
||||
'Ki',
|
||||
'ILimit',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'PitchRateP',
|
||||
'PitchRatePI',
|
||||
'f',
|
||||
1,
|
||||
3,
|
||||
[
|
||||
'0',
|
||||
'Kp',
|
||||
'Ki',
|
||||
'ILimit',
|
||||
],
|
||||
{
|
||||
}
|
||||
@ -184,7 +178,7 @@ _fields = [ \
|
||||
|
||||
class LesStabilizationSettings(uavobject.UAVObject):
|
||||
## Object constants
|
||||
OBJID = 2839831188
|
||||
OBJID = 3247121950
|
||||
NAME = "LesStabilizationSettings"
|
||||
METANAME = "LesStabilizationSettingsMeta"
|
||||
ISSINGLEINST = 1
|
||||
|
||||
@ -2,19 +2,18 @@
|
||||
<object name="LesStabilizationSettings" 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="UpdatePeriod" units="ms" type="uint8" elements="1" defaultvalue="10"/>
|
||||
<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="YawMode" units="" type="enum" elements="1" options="rate,heading" defaultvalue="rate"/>
|
||||
<field name="ManualYawRate" units="Degrees/sec" type="float" elements="1" defaultvalue="200"/>
|
||||
<field name="MaximumRate" units="Degrees/sec" type="float" elements="3" elementnames="Roll,Pitch,Yaw" defaultvalue="300"/>
|
||||
<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="RollRateP" units="" type="float" elements="1" defaultvalue="0.0015"/>
|
||||
<field name="PitchRateP" units="" type="float" elements="1" defaultvalue="0.0015"/>
|
||||
<field name="YawRatePI" units="" type="float" elements="2" elementnames="Kp,Ki,ILimit" defaultvalue="0.003"/>
|
||||
<field name="RollPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="0"/>
|
||||
<field name="PitchPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="0"/>
|
||||
<field name="YawPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="0"/>
|
||||
<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"/>
|
||||
|
||||
@ -5,8 +5,8 @@
|
||||
<field name="FeedForward" units="" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="-10"/>
|
||||
<field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="-10"/>
|
||||
<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
|
||||
<field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
|
||||
<field name="Mixer0Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer0Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user