<xml> <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 mode switch positions --> <field name="FlightModeMap" units="" type="enum" options="Bank1,Bank2,Bank3" elements="6" defaultvalue="Bank1,Bank1,Bank1,Bank1,Bank1,Bank1"/> <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="0.003"/> <field name="DerivativeCutoff" units="Hz" type="uint8" elements="1" defaultvalue="20"/> <field name="DerivativeGamma" units="" type="float" elements="1" defaultvalue="1"/> <field name="AxisLockKp" units="" type="float" elements="1" defaultvalue="2.5"/> <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="RattitudeModeTransition" units="%" type="uint8" elements="1" defaultvalue="80"/> <field name="CruiseControlMinThrust" units="%" type="int8" elements="1" defaultvalue="5"/> <field name="CruiseControlMaxThrust" units="%" type="uint8" elements="1" defaultvalue="100"/> <field name="CruiseControlMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="105"/> <field name="CruiseControlMaxPowerFactor" units="x" type="float" elements="1" defaultvalue="3.0"/> <field name="CruiseControlPowerTrim" units="%" type="float" elements="1" defaultvalue="100.0"/> <field name="CruiseControlPowerDelayComp" units="sec" type="float" elements="1" defaultvalue="0.25"/> <field name="CruiseControlFlightModeSwitchPosEnable" units="" type="enum" elements="6" options="False,True" defaultvalue="False"/> <field name="CruiseControlInvertedThrustReversing" units="" type="enum" elements="1" options="Unreversed,Reversed" defaultvalue="Unreversed"/> <field name="CruiseControlInvertedPowerOutput" units="" type="enum" elements="1" options="Zero,Normal,Boosted" defaultvalue="Zero"/> <field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/> <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"/> <field name="FlightModeAssistMap" units="" type="enum" options="None,GPSAssist" elements="6" defaultvalue="None,None,None,None,None,None" /> <field name="MeasureBasedDTerm" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/> <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>