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LibrePilot/shared/uavobjectdefinition/vtolpathfollowersettings.xml
James Cotton 574ab3fcaa Make the VtolPathFollower an optional module
Note that RTH mode right now checks that throttle control is enabled, but this
should only occur if the system is a VTOL.
2012-06-08 10:46:38 -05:00

23 lines
1.8 KiB
XML

<xml>
<object name="VtolPathFollowerSettings" singleinstance="true" settings="true">
<description>Settings for the @ref VtolPathFollower module</description>
<field name="GuidanceMode" units="" type="enum" elements="1" options="DUAL_LOOP,VELOCITY_CONTROL" defaultvalue="DUAL_LOOP"/>
<field name="HorizontalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="10"/>
<field name="VerticalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="1"/>
<field name="HorizontalPosPI" units="(m/s)/m" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="1,0,0"/>
<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="5,0,1,0"/>
<field name="VerticalPosPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.1,0.001,200"/>
<field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0,0,0"/>
<field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="0"/>
<field name="ThrottleControl" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="VelocitySource" units="" type="enum" elements="1" options="EKF,NEDVEL,GPSPOS" defaultvalue="EKF"/>
<field name="PositionSource" units="" type="enum" elements="1" options="EKF,GPSPOS" defaultvalue="EKF"/>
<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="20"/>
<field name="UpdatePeriod" units="ms" type="int32" elements="1" defaultvalue="100"/>
<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>