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Code Issues Releases Activity

OP-984 cleaned up stabilization bank object

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This commit is contained in:
Les Newell 2013-12-10 20:00:19 +00:00
parent ec713be3ea
commit fc1a4ce3bb
1 changed files with 0 additions and 51 deletions
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shared/uavobjectdefinition/stabilizationbank.xml
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@ -20,55 +20,4 @@
<logging updatemode="manual" period="0"/>
</object>
<object name="StabilizationSettings" singleinstance="true" settings="true" category="Control">
<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
<!-- Note: The number of elements here must match the number of available flight modes -->
<field name="FlightModeMap" units="" type="uint8" elements="6" defaultvalue="0,0,0,0,0,0"/>
<field name="RollMax" units="degrees" type="uint8" elements="3" defaultvalue="42" limits="%BE:0:180"/>
<field name="PitchMax" units="degrees" type="uint8" elements="3" defaultvalue="42" limits="%BE:0:180"/>
<field name="YawMax" units="degrees" type="uint8" elements="3" defaultvalue="42" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll1,Pitch1,Yaw1,Roll2,Pitch2,Yaw2,Roll3,Pitch3,Yaw3" defaultvalue="150,150,175,150,150,175,150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500; %BE:0:500; %BE:0:500; %BE:0:500; %BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll1,Pitch1,Yaw1,Roll2,Pitch2,Yaw2,Roll3,Pitch3,Yaw3" defaultvalue="300,300,50,300,300,50,300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500; %BE:0:500; %BE:0:500; %BE:0:500; %BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp1,Ki1,Kd1,ILimit1,Kp2,Ki2,Kd2,ILimit2,Kp3,Ki3,Kd3,ILimit3" defaultvalue="0.003,0.003,0.00002,0.3,0.003,0.003,0.00002,0.3,0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; ;%BE:0:0.01; %BE:0:0.01; ; ;%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp1,Ki1,Kd1,ILimit1,Kp2,Ki2,Kd2,ILimit2,Kp3,Ki3,Kd3,ILimit3" defaultvalue="0.003,0.003,0.00002,0.3,0.003,0.003,0.00002,0.3,0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; ;%BE:0:0.01; %BE:0:0.01; ; ;%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp1,Ki1,Kd1,ILimit1,Kp2,Ki2,Kd2,ILimit2,Kp3,Ki3,Kd3,ILimit3" defaultvalue="0.0035,0.0035,0,0.3,0.0035,0.0035,0,0.3,0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; ;%BE:0:0.01; %BE:0:0.01; ; ;%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="RollPI" units="" type="float" elementnames="Kp1,Ki1,ILimit1,Kp2,Ki2,ILimit2,Kp3,Ki3,ILimit3" defaultvalue="2.5,0,50,2.5,0,50,2.5,0,50" limits="%BE:0:10; %BE:0:10; ;%BE:0:10; %BE:0:10; ;%BE:0:10; %BE:0:10; "/>
<field name="PitchPI" units="" type="float" elementnames="Kp1,Ki1,ILimit1,Kp2,Ki2,ILimit2,Kp3,Ki3,ILimit3" defaultvalue="2.5,0,50,2.5,0,50,2.5,0,50" limits="%BE:0:10; %BE:0:10; ;%BE:0:10; %BE:0:10; ;%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp1,Ki1,ILimit1,Kp2,Ki2,ILimit2,Kp3,Ki3,ILimit3" defaultvalue="2,0,50,2,0,50,2,0,50" limits="%BE:0:10; %BE:0:10; ;%BE:0:10; %BE:0:10; ;%BE:0:10; %BE:0:10; "/>
<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
<field name="VbarPitchPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
<field name="VbarYawPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
<field name="VbarTau" units="sec" type="float" elements="1" defaultvalue="0.5"/>
<field name="VbarGyroSuppress" units="%" type="int8" elements="1" defaultvalue="30"/>
<field name="VbarPiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>
<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
<field name="DerivativeCutoff" units="Hz" type="uint8" elements="1" defaultvalue="20"/>
<field name="DerivativeGamma" units="" type="float" elements="1" defaultvalue="1"/>
<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="30"/>
<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>
<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
<field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="LowThrottleZeroAxis" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="FALSE,TRUE" defaultvalue="FALSE,FALSE,FALSE"/>
<field name="ScaleToAirspeed" units="m/s" type="float" elements="1" defaultvalue="0"/>
<field name="ScaleToAirspeedLimits" units="" type="float" elementnames="Min,Max" defaultvalue="0.05,3"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>