From fc1a4ce3bb44605c891072ac47db8f46d84b84f5 Mon Sep 17 00:00:00 2001
From: Les Newell <les@sheetcam.com>
Date: Tue, 10 Dec 2013 20:00:19 +0000
Subject: [PATCH] OP-984 cleaned up stabilization bank object

---
 .../uavobjectdefinition/stabilizationbank.xml | 51 -------------------
 1 file changed, 51 deletions(-)

diff --git a/shared/uavobjectdefinition/stabilizationbank.xml b/shared/uavobjectdefinition/stabilizationbank.xml
index f05a06a7c..027d19372 100644
--- a/shared/uavobjectdefinition/stabilizationbank.xml
+++ b/shared/uavobjectdefinition/stabilizationbank.xml
@@ -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>