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Code Issues Releases Activity

OP-316 - UAVObject units

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Fix accelerations units
Fix default mag values
Fix gyro scale
Fix var units

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2868 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
loris 2011-02-24 01:52:39 +00:00 committed by loris
parent 3d26b4ec60
commit c5d1aea9f4
3 changed files with 13 additions and 13 deletions
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16
shared/uavobjectdefinition/ahrscalibration.xml
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@ -2,16 +2,16 @@
<object name="AHRSCalibration" singleinstance="true" settings="true">
<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" type="float" elementnames="X,Y,Z" defaultvalue="-72,-72,72"/>
<field name="accel_scale" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="0.003,0.003,-0.003"/>
<field name="accel_var" units="m^2/s^s" type="float" elementnames="X,Y,Z" defaultvalue="5e-5"/>
<field name="gyro_bias" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="23,-23,23"/>
<field name="gyro_scale" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="-0.0140,0.014,-0.014"/>
<field name="gyro_var" units="deg^s/s^2" type="float" elementnames="X,Y,Z" defaultvalue="1e-4"/>
<field name="accel_bias" units="m/s^2" type="float" elementnames="X,Y,Z" defaultvalue="-72,-72,72"/>
<field name="accel_scale" units="m/s^2" type="float" elementnames="X,Y,Z" defaultvalue="0.003,0.003,-0.003"/>
<field name="accel_var" units="(m/s^2)^2" type="float" elementnames="X,Y,Z" defaultvalue="5e-5"/>
<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_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="1"/>
<field name="mag_var" units="mGau^s" type="float" elementnames="X,Y,Z" defaultvalue="5e-5"/>
<field name="mag_scale" units="mGau" 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"/>

4
shared/uavobjectdefinition/guidancesettings.xml
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@ -2,10 +2,10 @@
<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="" type="float" elements="1" elementnames="Kp,Max" defaultvalue="0.1,200"/>
<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="" type="float" elements="4" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0,0,0"/>
<field name="VerticalVelPID" units="(m/s)/m" type="float" elements="4" 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="UpdatePeriod" units="" type="int32" elements="1" defaultvalue="100"/>

6
shared/uavobjectdefinition/nedaccel.xml
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@ -1,9 +1,9 @@
<xml>
<object name="NedAccel" singleinstance="true" settings="false">
<description>The projection of acceleration in the NED reference frame used by @ref Guidance.</description>
<field name="North" units="cm/s" type="float" elements="1"/>
<field name="East" units="cm/s" type="float" elements="1"/>
<field name="Down" units="cm/s" type="float" elements="1"/>
<field name="North" units="cm/s^2" type="float" elements="1"/>
<field name="East" units="cm/s^2" type="float" elements="1"/>
<field name="Down" units="cm/s^2" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="10001"/>