mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
36 lines
2.9 KiB
XML
36 lines
2.9 KiB
XML
<xml>
|
|
<object name="StabilizationBank" singleinstance="true" settings="false" category="Control">
|
|
<description>Currently selected PID bank</description>
|
|
|
|
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
|
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
|
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
|
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
|
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
|
<field name="StickExpo" units="percent" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0" limits="%BE:-100:100; %BE:-100:100; %BE:-100:100"/>
|
|
|
|
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.025; ; "/>
|
|
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0030,0.0065,0.000033,0.3" limits="%BE:0:0.01; %BE:0:0.025; ; "/>
|
|
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.025 ; ; "/>
|
|
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
|
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
|
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit"/>
|
|
|
|
<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
|
|
|
|
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
|
|
|
|
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
|
|
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
|
|
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
|
|
<field name="ThrustPIDScaleTarget" units="" type="enum" elements="1" options="PID,PI,PD,ID,P,I,D" defaultvalue="PID" />
|
|
<field name="ThrustPIDScaleAxes" units="" type="enum" elements="1" options="Roll Pitch Yaw,Roll Pitch,Roll Yaw,Roll,Pitch Yaw,Pitch,Yaw" defaultvalue="Roll Pitch" />
|
|
|
|
<access gcs="readwrite" flight="readwrite"/>
|
|
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
|
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
|
<logging updatemode="manual" period="0"/>
|
|
</object>
|
|
|
|
</xml>
|