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Merge remote-tracking branch 'origin/rel-15.02.02' into next
This commit is contained in:
commit
ab36dcbdee
@ -444,8 +444,8 @@ static void handleGyro(float *samples, float temperature)
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static void handleMag(float *samples, float temperature)
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{
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MagSensorData mag;
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float mags[3] = { (float)samples[1] - mag_bias[0],
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(float)samples[0] - mag_bias[1],
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float mags[3] = { (float)samples[0] - mag_bias[0],
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(float)samples[1] - mag_bias[1],
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(float)samples[2] - mag_bias[2] };
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rot_mult(mag_transform, mags, samples);
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@ -49,9 +49,8 @@ void handleMag()
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if (PIOS_HMC5x83_ReadMag(onboard_mag, mag) == 0) {
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MagUbxPkt magPkt;
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// swap axis so that if side with connector is aligned to revo side with connectors, mags data are aligned
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magPkt.fragments.data.X = -mag[1];
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magPkt.fragments.data.Y = mag[0];
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magPkt.fragments.data.X = mag[0];
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magPkt.fragments.data.Y = mag[1];
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magPkt.fragments.data.Z = mag[2];
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magPkt.fragments.data.status = 1;
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ubx_buildPacket(&magPkt.packet, UBX_OP_CUST_CLASS, UBX_OP_MAG, sizeof(MagData));
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@ -224,7 +224,7 @@ int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3])
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dev->data_ready = false;
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uint8_t buffer[6];
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int32_t temp;
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int16_t temp[3];
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int32_t sensitivity;
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if (dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_XMSB_REG, buffer, 6) != 0) {
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@ -259,16 +259,54 @@ int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3])
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default:
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PIOS_Assert(0);
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}
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for (int i = 0; i < 3; i++) {
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temp = ((int16_t)((uint16_t)buffer[2 * i] << 8)
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+ buffer[2 * i + 1]) * 1000 / sensitivity;
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out[i] = temp;
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int16_t v = ((int16_t)((uint16_t)buffer[2 * i] << 8)
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+ buffer[2 * i + 1]) * 1000 / sensitivity;
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temp[i] = v;
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}
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switch (dev->cfg->Orientation) {
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case PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP:
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out[0] = temp[2];
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out[1] = temp[0];
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out[2] = -temp[1];
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break;
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case PIOS_HMC5X83_ORIENTATION_SOUTH_EAST_UP:
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out[0] = -temp[0];
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out[1] = temp[2];
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out[2] = -temp[1];
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break;
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case PIOS_HMC5X83_ORIENTATION_WEST_SOUTH_UP:
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out[0] = -temp[2];
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out[1] = -temp[0];
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out[2] = -temp[1];
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break;
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case PIOS_HMC5X83_ORIENTATION_NORTH_WEST_UP:
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out[0] = temp[0];
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out[1] = -temp[2];
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out[2] = -temp[1];
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break;
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case PIOS_HMC5X83_ORIENTATION_EAST_SOUTH_DOWN:
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out[0] = temp[2];
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out[1] = -temp[0];
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out[2] = temp[1];
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break;
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case PIOS_HMC5X83_ORIENTATION_SOUTH_WEST_DOWN:
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out[0] = -temp[0];
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out[1] = -temp[2];
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out[2] = temp[1];
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break;
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case PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN:
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out[0] = -temp[2];
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out[1] = temp[0];
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out[2] = temp[1];
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break;
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case PIOS_HMC5X83_ORIENTATION_NORTH_EAST_DOWN:
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out[0] = temp[0];
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out[1] = temp[2];
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out[2] = temp[1];
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break;
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}
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// Data reads out as X,Z,Y
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temp = out[2];
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out[2] = out[1];
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out[1] = temp;
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// This should not be necessary but for some reason it is coming out of continuous conversion mode
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dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_CONTINUOUS);
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@ -109,6 +109,18 @@ extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_SPI_DRIVER;
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#ifdef PIOS_INCLUDE_I2C
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extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER;
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#endif
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// xyz axis orientation
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enum PIOS_HMC5X83_ORIENTATION {
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PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
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PIOS_HMC5X83_ORIENTATION_SOUTH_EAST_UP,
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PIOS_HMC5X83_ORIENTATION_WEST_SOUTH_UP,
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PIOS_HMC5X83_ORIENTATION_NORTH_WEST_UP,
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PIOS_HMC5X83_ORIENTATION_EAST_SOUTH_DOWN,
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PIOS_HMC5X83_ORIENTATION_SOUTH_WEST_DOWN,
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PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN,
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PIOS_HMC5X83_ORIENTATION_NORTH_EAST_DOWN,
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};
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struct pios_hmc5x83_cfg {
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#ifdef PIOS_HMC5X83_HAS_GPIOS
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@ -119,6 +131,7 @@ struct pios_hmc5x83_cfg {
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uint8_t Gain; // Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
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uint8_t Mode;
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bool TempCompensation; // enable temperature sensor on HMC5983 for temperature gain compensation
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enum PIOS_HMC5X83_ORIENTATION Orientation;
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const struct pios_hmc5x83_io_driver *Driver;
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};
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@ -124,12 +124,13 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
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};
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static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
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.exti_cfg = &pios_exti_hmc5x83_cfg,
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.M_ODR = PIOS_HMC5x83_ODR_75,
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.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
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.Gain = PIOS_HMC5x83_GAIN_1_9,
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.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
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.Driver = &PIOS_HMC5x83_I2C_DRIVER,
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.exti_cfg = &pios_exti_hmc5x83_cfg,
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.M_ODR = PIOS_HMC5x83_ODR_75,
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.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
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.Gain = PIOS_HMC5x83_GAIN_1_9,
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.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
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.Driver = &PIOS_HMC5x83_I2C_DRIVER,
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.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
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};
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#endif /* PIOS_INCLUDE_HMC5X83 */
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@ -246,14 +246,15 @@ static const struct pios_exti_cfg pios_exti_mag_cfg __exti_config = {
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||||
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||||
static const struct pios_hmc5x83_cfg pios_mag_cfg = {
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||||
#ifdef PIOS_HMC5X83_HAS_GPIOS
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.exti_cfg = &pios_exti_mag_cfg,
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.exti_cfg = &pios_exti_mag_cfg,
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#endif
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.M_ODR = PIOS_HMC5x83_ODR_30,
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.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
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.M_ODR = PIOS_HMC5x83_ODR_30,
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.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
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.Gain = PIOS_HMC5x83_GAIN_1_3,
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.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
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.Driver = &PIOS_HMC5x83_SPI_DRIVER,
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.Driver = &PIOS_HMC5x83_SPI_DRIVER,
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.TempCompensation = true,
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.Orientation = PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN,
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};
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#endif /* PIOS_INCLUDE_HMC5883 */
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@ -132,12 +132,13 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
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};
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static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
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.exti_cfg = &pios_exti_hmc5x83_cfg,
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.M_ODR = PIOS_HMC5x83_ODR_75,
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.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
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.Gain = PIOS_HMC5x83_GAIN_1_9,
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.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
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.Driver = &PIOS_HMC5x83_I2C_DRIVER,
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.exti_cfg = &pios_exti_hmc5x83_cfg,
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.M_ODR = PIOS_HMC5x83_ODR_75,
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.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
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.Gain = PIOS_HMC5x83_GAIN_1_9,
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.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
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.Driver = &PIOS_HMC5x83_I2C_DRIVER,
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.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
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};
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#endif /* PIOS_INCLUDE_HMC5X83 */
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@ -122,12 +122,13 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
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};
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static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
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.exti_cfg = &pios_exti_hmc5x83_cfg,
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.M_ODR = PIOS_HMC5x83_ODR_75,
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.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
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.Gain = PIOS_HMC5x83_GAIN_1_9,
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.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
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.Driver = &PIOS_HMC5x83_I2C_DRIVER,
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.exti_cfg = &pios_exti_hmc5x83_cfg,
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.M_ODR = PIOS_HMC5x83_ODR_75,
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.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
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.Gain = PIOS_HMC5x83_GAIN_1_9,
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.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
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.Driver = &PIOS_HMC5x83_I2C_DRIVER,
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.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
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};
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#endif /* PIOS_INCLUDE_HMC5X83 */
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|
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
@ -1,7 +1,7 @@
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||||
#
|
||||
# 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
|
||||
|
@ -2,7 +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}
|
||||
#
|
||||
|
@ -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"/>
|
||||
|
@ -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; "/>
|
||||
|
@ -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; "/>
|
||||
|
@ -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; "/>
|
||||
|
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Reference in New Issue
Block a user