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30 lines
2.3 KiB
XML
30 lines
2.3 KiB
XML
<xml>
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<object name="SystemIdent" singleinstance="true" settings="true" category="Control">
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<description>The input to the PID tuning.</description>
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<field name="Tau" units="ln(sec)" type="float" elements="1" defaultvalue="-4.0"/>
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<!-- Beta default valuses 10.0 10.0 7.0 so that SystemIdent mode can be run without AutoTune -->
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<field name="Beta" units="" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="10.0,10.0,7.0"/>
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<field name="Bias" units="" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0"/>
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<field name="Noise" units="(deg/s)^2" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0"/>
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<field name="Period" units="ms" type="float" elements="1" defaultvalue="0"/>
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<field name="NumAfPredicts" units="" type="uint32" elements="1" defaultvalue="0"/>
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<field name="NumSpilledPts" units="" type="uint32" elements="1" defaultvalue="0"/>
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<field name="HoverThrottle" units="%/100" type="float" elements="1" defaultvalue="0"/>
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<!-- Decrease damping to make your aircraft response more rapidly. Increase it for more stability. -->
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<!-- Increasing noise (sensitivity) will make your aircraft respond more rapidly, but will cause twitches due to noise. -->
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<!-- Use damping 1.3 (130) and noise sensitivity 0.8 (08) for very smooth flight. -->
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<!-- Use damping 1.1 (110) and noise sensitivity 1.0 (10) for default flight. -->
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<!-- Use damping 1.0 (100) and noise sensitivity 1.3 (13) for very snappy flight. -->
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<!-- RateNoise is [0,30] default 10. -->
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<!-- RateDamp is [50,150] default 110. -->
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<field name="RateDamp" units="" type="uint8" elements="1" defaultvalue="110"/>
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<field name="RateNoise" units="" type="uint8" elements="1" defaultvalue="10"/>
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<field name="CalculateYaw" units="bool" type="enum" elements="1" options="False,True" defaultvalue="True"/>
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<field name="DestinationPidBank" units="bank#" type="uint8" elements="1" defaultvalue="2"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="false" updatemode="manual" period="0"/>
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<telemetryflight acked="false" updatemode="onchange" period="1000"/>
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<logging updatemode="manual" period="0"/>
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</object>
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</xml>
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