mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
28 lines
2.5 KiB
XML
28 lines
2.5 KiB
XML
<xml>
|
|
<object name="VtolPathFollowerSettings" singleinstance="true" settings="true" category="Control">
|
|
<description>Settings for the @ref VtolPathFollowerModule</description>
|
|
<field name="TreatCustomCraftAs" units="switch" type="enum" elements="1" options="FixedWing,VTOL" defaultvalue="FixedWing"/>
|
|
<field name="HorizontalVelMax" units="m/s" type="float" elements="1" defaultvalue="5.0"/>
|
|
<field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="1.0"/>
|
|
<field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="1.0"/>
|
|
<field name="HorizontalPosPI" units="(m/s)/m" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.25,0.0,0.0"/>
|
|
<field name="VerticalPosPI" units="" type="float" elements="1" elementnames="Kp,Ki,Ilimit" defaultvalue="0.4,0.0,0.0"/>
|
|
<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="8.0, 0.5, 0.0, 15"/>
|
|
<field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1, 0.01, 0.0, 1.0"/>
|
|
<field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
|
|
<field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="2"/>
|
|
<field name="ThrustControl" units="" type="enum" elements="1" options="manual,auto" defaultvalue="manual"/>
|
|
<field name="YawControl" units="" type="enum" elements="1" options="manual,tailin,movementdirection,pathdirection,poi" defaultvalue="manual"/>
|
|
<field name="FlyawayEmergencyFallback" units="switch" type="enum" elements="1" options="disabled,enabled,always,debugtest" defaultvalue="enabled"/>
|
|
<field name="FlyawayEmergencyFallbackTriggerTime" units="s" type="float" elements="1" defaultvalue="10.0"/>
|
|
<field name="EmergencyFallbackAttitude" units="deg" type="float" elementnames="Roll,Pitch" defaultvalue="0,-20.0"/>
|
|
<field name="EmergencyFallbackYawRate" units="(deg/s)/deg" type="float" elementnames="kP,Max" defaultvalue="2.0, 30.0"/>
|
|
<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
|
|
<field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="50"/>
|
|
<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>
|