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Merge branch 'skarlsso/OP-1474-PID_Scaling' into thread/OP-1474-PID_Scaling

Browse Source 
Conflicts:
	shared/uavobjectdefinition/stabilizationsettings.xml
This commit is contained in:
Stefan Karlsson 2014-09-10 21:41:40 +02:00
commit eacf0a1693
18 changed files with 383 additions and 64 deletions
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2
Makefile
View File

@ -638,7 +638,7 @@ uavo-collections_clean:
#
##############################
ALL_UNITTESTS := logfs
ALL_UNITTESTS := logfs math
# Build the directory for the unit tests
UT_OUT_DIR := $(BUILD_DIR)/unit_tests

41
flight/libraries/math/mathmisc.h
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@ -31,6 +31,9 @@
#ifndef MATHMISC_H
#define MATHMISC_H
#include <math.h>
#include <stdint.h>
// returns min(boundary1,boundary2) if val<min(boundary1,boundary2)
// returns max(boundary1,boundary2) if val>max(boundary1,boundary2)
// returns val if min(boundary1,boundary2)<=val<=max(boundary1,boundary2)
@ -79,4 +82,42 @@ static inline void vector_normalizef(float *vector, const uint8_t dim)
}
}
typedef struct pointf {
float x;
float y;
} pointf;
// Returns the y value, given x, on the line passing through the points p0 and p1.
static inline float y_on_line(float x, pointf *p0, pointf *p1)
{
// Setup line y = m * x + b.
const float dY1 = p1->y - p0->y;
const float dX1 = p1->x - p0->x;
const float m = dY1 / dX1; // == dY0 / dX0 == (p0.y - b) / (p0.x - 0.0f) ==>
const float b = p0->y - m * p0->x;
// Get the y value on the line.
return m * x + b;
}
// Returns the y value, given x, on the curve defined by the points array.
// The fist and last line of the curve extends beyond the first resp. last points.
static inline float y_on_curve(float x, pointf points[], int num_points)
{
// Find the two points x is within.
// If x is smaller than the first point's x value, use the first line of the curve.
// If x is larger than the last point's x value, user the last line of the curve.
int end_point = num_points - 1;
for (int i = 1; i < num_points; i++) {
if (x < points[i].x) {
end_point = i;
break;
}
}
// Find the y value on the selected line.
return y_on_line(x, &points[end_point - 1], &points[end_point]);
}
#endif /* MATHMISC_H */

29
flight/libraries/math/pid.c
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@ -140,3 +140,32 @@ void pid_configure(struct pid *pid, float p, float i, float d, float iLim)
pid->d = d;
pid->iLim = iLim;
}
float pid_scale_factor(pid_scaler *scaler)
{
float y = y_on_curve(scaler->x, scaler->points, sizeof(scaler->points) / sizeof(scaler->points[0]));
return 1.0f + (IS_REAL(y) ? y : 0.0f);
}
float pid_apply_setpoint_scaled(struct pid *pid, const float factor, const float setpoint, const float measured, float dT,
pid_scaler *scaler)
{
// Save PD values.
float p = pid->p;
float d = pid->d;
// Scale PD values.
float scale = pid_scale_factor(scaler);
pid->p *= scale;
pid->d *= scale;
float value = pid_apply_setpoint(pid, factor, setpoint, measured, dT);
// Restore PD values.
pid->p = p;
pid->d = d;
return value;
}

10
flight/libraries/math/pid.h
View File

@ -31,6 +31,8 @@
#ifndef PID_H
#define PID_H
#include "mathmisc.h"
// !
struct pid {
float p;
@ -42,11 +44,19 @@ struct pid {
float lastDer;
};
typedef struct pid_scaler {
float x;
pointf points[5];
} pid_scaler;
// ! Methods to use the pid structures
float pid_apply(struct pid *pid, const float err, float dT);
float pid_apply_setpoint(struct pid *pid, const float factor, const float setpoint, const float measured, float dT);
float pid_apply_setpoint_scaled(struct pid *pid, const float factor, const float setpoint, const float measured, float dT,
pid_scaler *scaler);
void pid_zero(struct pid *pid);
void pid_configure(struct pid *pid, float p, float i, float d, float iLim);
void pid_configure_derivative(float cutoff, float gamma);
float pid_scale_factor(pid_scaler *scaler);
#endif /* PID_H */

61
flight/modules/Stabilization/innerloop.c
View File

@ -42,6 +42,8 @@
#include <flightstatus.h>
#include <manualcontrolcommand.h>
#include <stabilizationbank.h>
#include <stabilizationdesired.h>
#include <actuatordesired.h>
#include <stabilization.h>
#include <relay_tuning.h>
@ -80,6 +82,8 @@ void stabilizationInnerloopInit()
StabilizationStatusInitialize();
FlightStatusInitialize();
ManualControlCommandInitialize();
StabilizationDesiredInitialize();
ActuatorDesiredInitialize();
#ifdef REVOLUTION
AirspeedStateInitialize();
AirspeedStateConnectCallback(AirSpeedUpdatedCb);
@ -93,6 +97,58 @@ void stabilizationInnerloopInit()
PIOS_CALLBACKSCHEDULER_Schedule(callbackHandle, FAILSAFE_TIMEOUT_MS, CALLBACK_UPDATEMODE_LATER);
}
static float get_pid_scale_source_value()
{
float value;
switch (stabSettings.settings.ThrustPIDScaleSource) {
case STABILIZATIONSETTINGS_THRUSTPIDSCALESOURCE_MANUALCONTROLTHROTTLE:
ManualControlCommandThrottleGet(&value);
break;
case STABILIZATIONSETTINGS_THRUSTPIDSCALESOURCE_STABILIZATIONDESIREDTHRUST:
StabilizationDesiredThrustGet(&value);
break;
case STABILIZATIONSETTINGS_THRUSTPIDSCALESOURCE_ACTUATORDESIRETHRUST:
ActuatorDesiredThrustGet(&value);
break;
default:
ManualControlCommandThrottleGet(&value);
break;
}
if (value < 0) {
value = 0.0f;
}
return value;
}
static inline pid_scaler create_pid_scaler()
{
float throttle;
ManualControlCommandThrottleGet(&throttle);
struct pid_scaler scaler = {
.x = get_pid_scale_source_value(),
.points = {
{ 0.0f, stabSettings.settings.ThrustPIDScaleCurve[0] },
{ 0.25f, stabSettings.settings.ThrustPIDScaleCurve[1] },
{ 0.50f, stabSettings.settings.ThrustPIDScaleCurve[2] },
{ 0.75f, stabSettings.settings.ThrustPIDScaleCurve[3] },
{ 1.0f, stabSettings.settings.ThrustPIDScaleCurve[4] }
}
};
return scaler;
}
static int is_pid_scaled_for_axis(int axis)
{
return stabSettings.settings.EnableThrustPIDScaling
&& (axis == 0 // Roll
|| axis == 1); // Pitch
}
/**
* WARNING! This callback executes with critical flight control priority every
@ -200,7 +256,12 @@ static void stabilizationInnerloopTask()
-StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t],
StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t]
);
if (is_pid_scaled_for_axis(t)) {
pid_scaler scaler = create_pid_scaler();
actuatorDesiredAxis[t] = pid_apply_setpoint_scaled(&stabSettings.innerPids[t], speedScaleFactor, rate[t], gyro_filtered[t], dT, &scaler);
} else {
actuatorDesiredAxis[t] = pid_apply_setpoint(&stabSettings.innerPids[t], speedScaleFactor, rate[t], gyro_filtered[t], dT);
}
break;
case STABILIZATIONSTATUS_INNERLOOP_DIRECT:
default:

2
flight/pios/common/pios_sbus.c
View File

@ -250,7 +250,7 @@ static void PIOS_SBus_UpdateState(struct pios_sbus_state *state, uint8_t b)
state->received_data[state->byte_count - 1] = b;
state->byte_count++;
} else {
if (b == SBUS_EOF_BYTE || (b % SBUS_R7008SB_EOF_COUNTER_MASK) == SBUS_R7008SB_EOF_BYTE) {
if (b == SBUS_EOF_BYTE || (b & SBUS_R7008SB_EOF_COUNTER_MASK) == 0) {
/* full frame received */
uint8_t flags = state->received_data[SBUS_FRAME_LENGTH - 3];
if (flags & SBUS_FLAG_FL) {

3
flight/pios/inc/pios_sbus_priv.h
View File

@ -66,8 +66,7 @@
#define SBUS_FLAG_FL 0x04
#define SBUS_FLAG_FS 0x08
#define SBUS_R7008SB_EOF_COUNTER_MASK 0xCF
#define SBUS_R7008SB_EOF_BYTE 0x04
#define SBUS_R7008SB_EOF_COUNTER_MASK 0xCB
/*
* S.Bus protocol provides 16 proportional and 2 discrete channels.

37
flight/tests/math/Makefile Normal file
View File

@ -0,0 +1,37 @@
###############################################################################
# @file Makefile
# @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
# Copyright (c) 2013, The OpenPilot Team, http://www.openpilot.org
# @addtogroup
# @{
# @addtogroup
# @{
# @brief Makefile for unit test
###############################################################################
#
# 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
# the Free Software Foundation; either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
# for more details.
#
# You should have received a copy of the GNU General Public License along
# with this program; if not, write to the Free Software Foundation, Inc.,
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
#
ifndef OPENPILOT_IS_COOL
$(error Top level Makefile must be used to build this target)
endif
include $(ROOT_DIR)/make/firmware-defs.mk
EXTRAINCDIRS += $(TOPDIR)
EXTRAINCDIRS += $(ROOT_DIR)/flight/libraries/math
EXTRAINCDIRS += $(PIOS)/inc
include $(ROOT_DIR)/make/unittest.mk

110
flight/tests/math/unittest.cpp Normal file
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@ -0,0 +1,110 @@
#include "gtest/gtest.h"
#include <stdio.h> /* printf */
#include <stdlib.h> /* abort */
#include <string.h> /* memset */
extern "C" {
#include "mathmisc.h"
}
#define epsilon 0.00001f
// From pios_math.h
#define IS_REAL(f) (!isnan(f) && !isinf(f))
#define length(points_array) (sizeof(points_array) / sizeof(points_array[0]))
// To use a test fixture, derive a class from testing::Test.
class MathTestRaw : public testing::Test {};
TEST_F(MathTestRaw, y_on_line0) {
pointf points[] = {
{ 0.0f, -0.30f },
{ 0.5f, 0.30 }
};
EXPECT_NEAR(-0.60f, y_on_line(-0.25f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(-0.30f, y_on_line(0.00f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(0.00f, y_on_line(0.25f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(0.30f, y_on_line(0.50f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(0.60f, y_on_line(0.75f, &points[0], &points[1]), epsilon);
}
TEST_F(MathTestRaw, y_on_line1) {
pointf points[] = {
{ 0.25f, -0.30f },
{ 0.50f, 0.30 }
};
EXPECT_NEAR(-1.50f, y_on_line(-0.25f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(-0.90f, y_on_line(0.00f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(-0.30f, y_on_line(0.25f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(0.30f, y_on_line(0.50f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(0.90f, y_on_line(0.75f, &points[0], &points[1]), epsilon);
}
TEST_F(MathTestRaw, y_on_line2) {
pointf points[] = {
{ -0.25f, -0.30f },
{ 0.50f, 0.30 }
};
EXPECT_NEAR(-0.30f, y_on_line(-0.25f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(-0.10f, y_on_line(0.00f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(0.10f, y_on_line(0.25f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(0.30f, y_on_line(0.50f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(0.50f, y_on_line(0.75f, &points[0], &points[1]), epsilon);
}
TEST_F(MathTestRaw, y_on_line3) {
pointf points[] = {
{ 0.25f, -0.30f },
{ 0.25f, 0.30 }
};
EXPECT_FALSE(IS_REAL(y_on_line(-0.25f, &points[0], &points[1])));
}
TEST_F(MathTestRaw, y_on_curve0) {
pointf points[] = {
{ 0.00f, -0.40f },
{ 0.25f, -0.20f },
{ 0.50f, 0.00f },
{ 0.75f, 0.20 },
{ 1.00f, 0.40 }
};
EXPECT_NEAR(-0.50f, y_on_curve(-0.125f, points, length(points)), epsilon);
EXPECT_NEAR(-0.40f, y_on_curve(0.000f, points, length(points)), epsilon);
EXPECT_NEAR(-0.30f, y_on_curve(0.125f, points, length(points)), epsilon);
EXPECT_NEAR(-0.20f, y_on_curve(0.250f, points, length(points)), epsilon);
EXPECT_NEAR(-0.10f, y_on_curve(0.375f, points, length(points)), epsilon);
EXPECT_NEAR(0.00f, y_on_curve(0.500f, points, length(points)), epsilon);
EXPECT_NEAR(0.10f, y_on_curve(0.625f, points, length(points)), epsilon);
EXPECT_NEAR(0.20f, y_on_curve(0.750f, points, length(points)), epsilon);
EXPECT_NEAR(0.30f, y_on_curve(0.875f, points, length(points)), epsilon);
EXPECT_NEAR(0.40f, y_on_curve(1.000f, points, length(points)), epsilon);
EXPECT_NEAR(0.50f, y_on_curve(1.125f, points, length(points)), epsilon);
}
TEST_F(MathTestRaw, y_on_curve1) {
pointf points[] = {
{ -0.25f, 0.10f },
{ 0.00f, 0.20f },
{ 0.50f, 0.30f },
{ 1.00f, -0.30 },
{ 2.00f, -0.50 }
};
EXPECT_NEAR(0.00f, y_on_curve(-0.500f, points, length(points)), epsilon);
EXPECT_NEAR(0.10f, y_on_curve(-0.250f, points, length(points)), epsilon);
EXPECT_NEAR(0.15f, y_on_curve(-0.125f, points, length(points)), epsilon);
EXPECT_NEAR(0.20f, y_on_curve(0.000f, points, length(points)), epsilon);
EXPECT_NEAR(0.22f, y_on_curve(0.100f, points, length(points)), epsilon);
EXPECT_NEAR(0.30f, y_on_curve(0.500f, points, length(points)), epsilon);
EXPECT_NEAR(0.00f, y_on_curve(0.750f, points, length(points)), epsilon);
EXPECT_NEAR(-0.30f, y_on_curve(1.000f, points, length(points)), epsilon);
EXPECT_NEAR(-0.35f, y_on_curve(1.250f, points, length(points)), epsilon);
EXPECT_NEAR(-0.50f, y_on_curve(2.000f, points, length(points)), epsilon);
}

6
ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
View File

@ -1779,7 +1779,7 @@
<showTileGridLines>false</showTileGridLines>
<uavSymbol>mapquad.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>true</useOpenGL>
<useOpenGL>false</useOpenGL>
</data>
</Google__PCT__20Sat>
<Memory__PCT__20Only>
@ -1799,7 +1799,7 @@
<showTileGridLines>false</showTileGridLines>
<uavSymbol>airplanepip.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>true</useOpenGL>
<useOpenGL>false</useOpenGL>
</data>
</Memory__PCT__20Only>
<default>
@ -1819,7 +1819,7 @@
<showTileGridLines>false</showTileGridLines>
<uavSymbol>mapquad.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>true</useOpenGL>
<useOpenGL>false</useOpenGL>
</data>
</default>
</OPMapGadget>

16
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -126,6 +126,17 @@ void ConfigOutputWidget::enableControls(bool enable)
ui->channelOutTest->setEnabled(enable);
}
/**
Force update all channels with the values in the OutputChannelForms.
*/
void ConfigOutputWidget::sendAllChannelTests()
{
for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
OutputChannelForm *form = getOutputChannelForm(i);
sendChannelTest(i, form->neutral());
}
}
/**
Toggles the channel testing mode by making the GCS take over
the ActuatorCommand objects
@ -178,6 +189,11 @@ void ConfigOutputWidget::runChannelTests(bool state)
}
obj->setMetadata(mdata);
obj->updated();
// Setup the correct initial channel values when the channel testing mode is turned on.
if (state) {
sendAllChannelTests();
}
}
OutputChannelForm *ConfigOutputWidget::getOutputChannelForm(const int index) const

4
ground/openpilotgcs/src/plugins/config/configoutputwidget.h
View File

@ -58,7 +58,11 @@ private:
void updateChannelInSlider(QSlider *slider, QLabel *min, QLabel *max, QCheckBox *rev, int value);
void assignOutputChannel(UAVDataObject *obj, QString &str);
OutputChannelForm *getOutputChannelForm(const int index) const;
void sendAllChannelTests();
int mccDataRate;
UAVObject::Metadata accInitialData;

9
ground/openpilotgcs/src/plugins/config/inputchannelform.ui
View File

@ -120,6 +120,9 @@ margin:1px;</string>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::UpDownArrows</enum>
</property>
<property name="keyboardTracking">
<bool>false</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
@ -670,6 +673,9 @@ margin:1px;</string>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::UpDownArrows</enum>
</property>
<property name="keyboardTracking">
<bool>false</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
@ -762,6 +768,9 @@ margin:1px;</string>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="keyboardTracking">
<bool>false</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>

4
ground/openpilotgcs/src/plugins/logging/loggingplugin.cpp
View File

@ -76,8 +76,10 @@ QIODevice *LoggingConnection::openDevice(const QString &deviceName)
QString fileName = QFileDialog::getOpenFileName(NULL, tr("Open file"), QString(""), tr("OpenPilot Log (*.opl)"));
if (!fileName.isNull()) {
startReplay(fileName);
}
return &logFile;
}
return NULL;
}
void LoggingConnection::startReplay(QString file)

1
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -49,6 +49,7 @@
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesireThrust" defaultvalue="ManualControlThrottle" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>

10
shared/uavobjectdefinition/stabilizationsettingsbank1.xml
View File

@ -2,15 +2,15 @@
<object name="StabilizationSettingsBank1" singleinstance="true" settings="true" category="Control">
<description>Currently selected PID bank</description>
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="220,220,220" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<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="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0050,0.0050,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
<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:0:0.01 ; ; "/>
<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; "/>

10
shared/uavobjectdefinition/stabilizationsettingsbank2.xml
View File

@ -2,15 +2,15 @@
<object name="StabilizationSettingsBank2" singleinstance="true" settings="true" category="Control">
<description>Currently selected PID bank</description>
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="220,220,220" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<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="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0050,0.0050,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
<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:0:0.01 ; ; "/>
<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; "/>

10
shared/uavobjectdefinition/stabilizationsettingsbank3.xml
View File

@ -2,15 +2,15 @@
<object name="StabilizationSettingsBank3" singleinstance="true" settings="true" category="Control">
<description>Currently selected PID bank</description>
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="220,220,220" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<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="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0050,0.0050,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
<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:0:0.01 ; ; "/>
<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; "/>