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49 lines
3.8 KiB
XML
49 lines
3.8 KiB
XML
<xml>
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<object name="StabilizationSettings" singleinstance="true" settings="true" category="Control">
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<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
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<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
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<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
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<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
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<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
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<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
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<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
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<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
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<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
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<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
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<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
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<field name="VbarPitchPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
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<field name="VbarYawPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
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<field name="VbarTau" units="sec" type="float" elements="1" defaultvalue="0.5"/>
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<field name="VbarGyroSuppress" units="%" type="int8" elements="1" defaultvalue="30"/>
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<field name="VbarPiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
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<field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>
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<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
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<field name="DerivativeCutoff" units="Hz" type="uint8" elements="1" defaultvalue="20"/>
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<field name="DerivativeGamma" units="" type="float" elements="1" defaultvalue="1"/>
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<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="30"/>
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<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>
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<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
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<field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
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<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
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<field name="LowThrottleZeroAxis" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="FALSE,TRUE" defaultvalue="FALSE,FALSE,FALSE"/>
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<field name="ScaleToAirspeed" units="m/s" type="float" elements="1" defaultvalue="0"/>
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<field name="ScaleToAirspeedLimits" units="" type="float" elementnames="Min,Max" defaultvalue="0.05,10"/>
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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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