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46fc5fa4fb
Also add a (temporary) field to allow storing some custom paths to select on the fly. Later will be replaced with some code to fetch from the flash chip.
23 lines
1.8 KiB
XML
23 lines
1.8 KiB
XML
<xml>
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<object name="GuidanceSettings" singleinstance="true" settings="true">
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<description>Settings for the @ref GuidanceModule</description>
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<field name="GuidanceMode" units="" type="enum" elements="1" options="DUAL_LOOP,VELOCITY_CONTROL" defaultvalue="DUAL_LOOP"/>
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<field name="HorizontalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="10"/>
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<field name="VerticalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="1"/>
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<field name="HorizontalPosPI" units="(m/s)/m" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="1,0,0"/>
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<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="5,0,1,0"/>
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<field name="VerticalPosPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.1,0.001,200"/>
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<field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0,0,0"/>
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<field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="0"/>
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<field name="ThrottleControl" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
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<field name="VelocitySource" units="" type="enum" elements="1" options="EKF,NEDVEL,GPSPOS" defaultvalue="EKF"/>
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<field name="PositionSource" units="" type="enum" elements="1" options="EKF,GPSPOS" defaultvalue="EKF"/>
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<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="20"/>
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<field name="UpdatePeriod" units="ms" type="int32" elements="1" defaultvalue="100"/>
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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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