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33 lines
3.0 KiB
XML
33 lines
3.0 KiB
XML
<xml>
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<object name="FixedWingPathFollowerSettings" singleinstance="true" settings="true">
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<description>Settings for the @ref FixedWingPathFollowerModule</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="PathMode" units="" type="enum" elements="1" options="ENDPOINT,PATH" defaultvalue="ENDPOINT"/>
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<field name="ReturnTobaseAltitudeOffset" units="m" type="float" elements="1" defaultvalue="75.0"/>
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<field name="HorizontalVelMax" units="m/s" type="float" elements="1" defaultvalue="0.3"/>
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<field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="0.15"/>
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<field name="HorizontalPosPI" units="(m/s)/m" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.1,0,0.3"/>
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<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.05,0.002,0,1000"/>
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<field name="VerticalPosPI" units="m/s" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.1,0,1.5"/>
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<field name="VerticalVelPID" units="1/(m/s)" 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="CoursePI" units="deg/deg" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="0.2,0.02,10"/>
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<field name="SpeedP" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Max" defaultvalue="10,10"/>
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<field name="AccelPI" units="deg/(m/s^2)" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="0.1,0.1,10"/>
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<field name="ClimbRateBoostFactor" units="" type="float" elements="1" defaultvalue="3.14"/>
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<field name="PowerPI" units="1/(m/s)" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="0.005,0.005,0.8"/>
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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="CruiseSpeed" units="m/s" type="float" elements="1" defaultvalue="13"/>
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<field name="RollLimit" units="deg" type="float" elements="3" elementnames="Min,Neutral,Max" defaultvalue="-35,0,35" />
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<field name="PitchLimit" units="deg" type="float" elements="3" elementnames="Min,Neutral,Max" defaultvalue="-10,5,20" />
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<field name="ThrottleLimit" units="" type="float" elements="3" elementnames="Min,Neutral,Max" defaultvalue="0.1,0.5,0.9" />
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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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