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21 lines
2.1 KiB
XML
21 lines
2.1 KiB
XML
<xml>
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<object name="SystemIdentState" singleinstance="true" settings="false" category="State">
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<description>Used for logging PID tuning.</description>
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<field name="Tau" units="ln(sec)" type="float" elements="1" defaultvalue="-4.0" description="Measured delay between inner loop and detected gyro response"/>
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<!-- Beta default values 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" description="(Natural log of) Measured control gain"/>
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<field name="Bias" units="" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0" description="Measured amount and direction of control stick that stabilization automatically adds for motionless hover"/>
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<field name="Noise" units="(deg/s)^2" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0" description="Measured vibration: Usually 10's to 1000's"/>
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<field name="Period" units="ms" type="float" elements="1" defaultvalue="0" description="Measured time between gyro samples"/>
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<field name="NumAfPredicts" units="" type="uint32" elements="1" defaultvalue="0" description="Number of gyro samples that were counted"/>
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<field name="NumSpilledPts" units="" type="uint32" elements="1" defaultvalue="0" description="Number of gyro samples that were dropped (should be zero)"/>
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<field name="HoverThrottle" units="%/100" type="float" elements="1" defaultvalue="0" description="Measured throttle stick position"/>
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<field name="GyroReadTimeAverage" units="s" type="float" elements="1" defaultvalue="0.001" description="Measured delay from gyro read to inner loop"/>
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<field name="Complete" units="bool" type="enum" elements="1" options="False,True" defaultvalue="False" description="Automatically set True for a good complete tune or False for incomplete or bad"/>
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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="periodic" 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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