rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-20 10:54:14 +01:00
Code Issues Releases Activity

LP-340 Add descriptions in xml

Browse Source
This commit is contained in:
Cliff Geerdes 2016-07-20 02:57:27 -04:00
parent a13de1e62b
commit d12847d772
2 changed files with 31 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

40
shared/uavobjectdefinition/systemidentsettings.xml
View File

@ -1,9 +1,9 @@
<xml>
<object name="SystemIdentSettings" singleinstance="true" settings="true" category="Control">
<description>The input to the PID tuning.</description>
<field name="Tau" units="ln(sec)" type="float" elements="1" defaultvalue="-4.0"/>
<description>The input to and results of the PID tuning.</description>
<field name="Tau" units="ln(sec)" type="float" elements="1" defaultvalue="-4.0" description="Measured delay between inner loop and detected gyro response"/>
<!-- Beta default valuses 10.0 10.0 7.0 so that SystemIdent mode can be run without AutoTune -->
<field name="Beta" units="" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="10.0,10.0,7.0"/>
<field name="Beta" units="" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="10.0,10.0,7.0" description="(Natural log of) Measured control gain"/>
<!-- Decrease damping to make your aircraft response more rapidly. Increase it for more stability. -->
<!-- Increasing noise (sensitivity) will make your aircraft respond more rapidly, but will cause twitches due to noise. -->
<!-- Use RateDamp 130 with RateNoise 08 for very smooth flight. -->
@ -20,20 +20,20 @@
<!-- Use RateDamp 150 with RateNoise 06 for very very smooth flight. -->
<!-- Use RateDamp 90 with RateNoise 16 for very very snappy flight. -->
<!-- use additive so the piecewise algorithm will give the exact recommended pairs at 25%, 50%, and 75% of slider -->
<field name="DampMin" units="" type="uint8" elements="1" defaultvalue="90"/>
<field name="DampRate" units="" type="uint8" elements="1" defaultvalue="110"/>
<field name="DampMax" units="" type="uint8" elements="1" defaultvalue="150"/>
<field name="NoiseMin" units="" type="uint8" elements="1" defaultvalue="6"/>
<field name="NoiseRate" units="" type="uint8" elements="1" defaultvalue="10"/>
<field name="NoiseMax" units="" type="uint8" elements="1" defaultvalue="16"/>
<field name="CalculateYaw" units="" type="enum" elements="1" options="False,TrueLimitToRatio,TrueIgnoreLimit" defaultvalue="TrueLimitToRatio"/>
<field name="DampMin" units="" type="uint8" elements="1" defaultvalue="90" description="Setting: Part of smoothquick slider (expert)"/>
<field name="DampRate" units="" type="uint8" elements="1" defaultvalue="110" description="Setting: Part of smoothquick slider (expert)"/>
<field name="DampMax" units="" type="uint8" elements="1" defaultvalue="150" description="Setting: Part of smoothquick slider (expert)"/>
<field name="NoiseMin" units="" type="uint8" elements="1" defaultvalue="6" description="Setting: Part of smoothquick slider (expert)"/>
<field name="NoiseRate" units="" type="uint8" elements="1" defaultvalue="10" description="Setting: Part of smoothquick slider (expert)"/>
<field name="NoiseMax" units="" type="uint8" elements="1" defaultvalue="16" description="Setting: Part of smoothquick slider (expert)"/>
<field name="CalculateYaw" units="" type="enum" elements="1" options="False,TrueLimitToRatio,TrueIgnoreLimit" defaultvalue="TrueLimitToRatio" description="Setting: Whether to calculate yaw and whether to use YawToRollPitchPIDRatio"/>
<!-- Mateuze quad needs yaw P to be at most 2.6 times roll/pitch P to avoid yaw oscillation -->
<!-- Cliff sluggish 500 quad thinks that yaw P should be about 5.8 times roll/pitch P, but can easily (and better) live with 2.6 -->
<field name="YawToRollPitchPIDRatioMin" units="" type="float" elements="1" defaultvalue="1.0"/>
<field name="YawToRollPitchPIDRatioMax" units="" type="float" elements="1" defaultvalue="2.5"/>
<field name="DerivativeFactor" units="" type="float" elements="1" defaultvalue="1.0" limits="%BE:0:1"/>
<field name="DestinationPidBank" units="bank#" type="uint8" elements="1" defaultvalue="3" limits="%BE:1:3"/>
<field name="TuningDuration" units="s" type="uint8" elements="1" defaultvalue="60" limits="%BI:0" />
<field name="YawToRollPitchPIDRatioMin" units="" type="float" elements="1" defaultvalue="1.0" description="Setting: Yaw PID will be at least this times Pitch PID (if enabled)"/>
<field name="YawToRollPitchPIDRatioMax" units="" type="float" elements="1" defaultvalue="2.5" description="Setting: Yaw PID will be at most this times Pitch PID (if enabled)"/>
<field name="DerivativeFactor" units="" type="float" elements="1" defaultvalue="1.0" limits="%BE:0:1" description="Setting: Reduce this toward zero if you have D term oscillations, it will reduce PID D terms"/>
<field name="DestinationPidBank" units="bank#" type="uint8" elements="1" defaultvalue="3" limits="%BE:1:3" description="Setting: Which bank the calculated PIDs will be stored in after tuning"/>
<field name="TuningDuration" units="s" type="uint8" elements="1" defaultvalue="60" limits="%BI:0" description="Setting: Duration of the tuning motions (expert)"/>
<!-- SmoothQuickSource: the smooth vs. quick PID selector -->
<!-- 0 = disabled -->
<!-- 10 thru 13 correspond to accessory0 -> accessory3 transmitter knobs -->
@ -46,11 +46,11 @@
<!-- 25 (5 stops) means stops at 50, 75, 100, 0, 25 (repeat as you toggle) -->
<!-- 27 (7 stops) means stops at 50, 67, 83, 100, 0, 17, 33 (repeat as you toggle) -->
<!-- 25 is special in that the 3 middle values (25, 50, 75) are exactly those that are recommended for smooth, normal, and quick responses -->
<field name="SmoothQuickSource" units="" type="uint8" elements="1" defaultvalue="25"/>
<field name="SmoothQuickValue" units="" type="float" elements="1" defaultvalue="0.0"/>
<field name="DisableSanityChecks" units="bool" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="GyroReadTimeAverage" units="s" type="float" elements="1" defaultvalue="0.001"/>
<field name="Complete" units="bool" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="SmoothQuickSource" units="" type="uint8" elements="1" defaultvalue="25" description="Setting: 10-13 to use one of accessory0-3, 23 25 27 for FMS 3x toggle method with 3 5 7 positions"/>
<field name="SmoothQuickValue" units="" type="float" elements="1" defaultvalue="0.0" description="Remembers the value of the FMS 3x toggle"/>
<field name="DisableSanityChecks" units="bool" type="enum" elements="1" options="False,True" defaultvalue="False" description="Setting: Debugging tool (expert)"/>
<field name="GyroReadTimeAverage" units="s" type="float" elements="1" defaultvalue="0.001" description="Measured delay from gyro read to inner loop"/>
<field name="Complete" units="bool" type="enum" elements="1" options="False,True" defaultvalue="False" description="Automatically set True for a good complete tune or False for incomplete or bad"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

22
shared/uavobjectdefinition/systemidentstate.xml
View File

@ -1,17 +1,17 @@
<xml>
<object name="SystemIdentState" singleinstance="true" settings="false" category="State">
<description>The input to the PID tuning.</description>
<field name="Tau" units="ln(sec)" type="float" elements="1" defaultvalue="-4.0"/>
<description>Used for logging PID tuning.</description>
<field name="Tau" units="ln(sec)" type="float" elements="1" defaultvalue="-4.0" description="Measured delay between inner loop and detected gyro response"/>
<!-- Beta default valuses 10.0 10.0 7.0 so that SystemIdent mode can be run without AutoTune -->
<field name="Beta" units="" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="10.0,10.0,7.0"/>
<field name="Bias" units="" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Noise" units="(deg/s)^2" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Period" units="ms" type="float" elements="1" defaultvalue="0"/>
<field name="NumAfPredicts" units="" type="uint32" elements="1" defaultvalue="0"/>
<field name="NumSpilledPts" units="" type="uint32" elements="1" defaultvalue="0"/>
<field name="HoverThrottle" units="%/100" type="float" elements="1" defaultvalue="0"/>
<field name="GyroReadTimeAverage" units="s" type="float" elements="1" defaultvalue="0.001"/>
<field name="Complete" units="bool" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="Beta" units="" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="10.0,10.0,7.0" description="(Natural log of) Measured control gain"/>
<field name="Bias" units="" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0" description="Measured amount and direction of control stick that stabilization automatically adds for motionless hover"/>
<field name="Noise" units="(deg/s)^2" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0" description="Measured vibration: Usually 10's to 1000's"/>
<field name="Period" units="ms" type="float" elements="1" defaultvalue="0" description="Measured time between gyro samples"/>
<field name="NumAfPredicts" units="" type="uint32" elements="1" defaultvalue="0" description="Number of gyro samples that were counted"/>
<field name="NumSpilledPts" units="" type="uint32" elements="1" defaultvalue="0" description="Number of gyro samples that were dropped (should be zero)"/>
<field name="HoverThrottle" units="%/100" type="float" elements="1" defaultvalue="0" description="Measured throttle stick position"/>
<field name="GyroReadTimeAverage" units="s" type="float" elements="1" defaultvalue="0.001" description="Measured delay from gyro read to inner loop"/>
<field name="Complete" units="bool" type="enum" elements="1" options="False,True" defaultvalue="False" description="Automatically set True for a good complete tune or False for incomplete or bad"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>