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https://bitbucket.org/librepilot/librepilot.git
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78 lines
2.7 KiB
XML
78 lines
2.7 KiB
XML
<xml>
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<object name="EKFConfiguration" singleinstance="true" settings="true" category="State">
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<description>Extended Kalman Filter initialisation</description>
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<field name="P" units="1^2" type="float" defaultvalue="
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25.0, 25.0, 25.0,
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5.0, 5.0, 5.0,
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0.00001, 0.00001, 0.00001, 0.00001,
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0.000001, 0.000001, 0.000001">
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<elementnames>
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<elementname>PositionNorth</elementname>
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<elementname>PositionEast</elementname>
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<elementname>PositionDown</elementname>
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<elementname>VelocityNorth</elementname>
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<elementname>VelocityEast</elementname>
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<elementname>VelocityDown</elementname>
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<elementname>AttitudeQ1</elementname>
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<elementname>AttitudeQ2</elementname>
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<elementname>AttitudeQ3</elementname>
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<elementname>AttitudeQ4</elementname>
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<elementname>GyroDriftX</elementname>
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<elementname>GyroDriftY</elementname>
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<elementname>GyroDriftZ</elementname>
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</elementnames>
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</field>
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<field name="Q" units="1^2" type="float" defaultvalue="
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0.001, 0.001, 0.001,
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0.003, 0.003, 0.003,
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0.000001, 0.000001, 0.000001">
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<elementnames>
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<elementname>GyroX</elementname>
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<elementname>GyroY</elementname>
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<elementname>GyroZ</elementname>
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<elementname>AccelX</elementname>
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<elementname>AccelY</elementname>
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<elementname>AccelZ</elementname>
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<elementname>GyroDriftX</elementname>
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<elementname>GyroDriftY</elementname>
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<elementname>GyroDriftZ</elementname>
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</elementnames>
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</field>
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<field name="R" units="1^2" type="float" defaultvalue="
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0.1, 0.1, 1000000,
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0.01, 0.01, 0.01,
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10, 10, 10,
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0.01">
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<elementnames>
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<elementname>GPSPosNorth</elementname>
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<elementname>GPSPosEast</elementname>
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<elementname>GPSPosDown</elementname>
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<elementname>GPSVelNorth</elementname>
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<elementname>GPSVelEast</elementname>
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<elementname>GPSVelDown</elementname>
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<elementname>MagX</elementname>
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<elementname>MagY</elementname>
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<elementname>MagZ</elementname>
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<elementname>BaroZ</elementname>
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</elementnames>
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</field>
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<field name="FakeR" type="float" units="1^2" defaultvalue="
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10,
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1,
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1000">
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<elementnames>
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<elementname>FakeGPSPosIndoor</elementname>
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<elementname>FakeGPSVelIndoor</elementname>
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<elementname>FakeGPSVelAirspeed</elementname>
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</elementnames>
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</field>
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<field name="MapMagnetometerToHorizontalPlane" type="enum" units="bool" elements="1"
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options="False,True" defaultvalue="True"
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description="Set to True to suppress effect of magnetometers on Roll+Pitch State estimate" />
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="true" updatemode="onchange" period="0"/>
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<telemetryflight acked="true" updatemode="onchange" period="0"/>
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<logging updatemode="manual" period="0"/>
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</object>
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</xml>
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