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23 lines
1.7 KiB
XML
23 lines
1.7 KiB
XML
<xml>
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<object name="AttitudeSettings" singleinstance="true" settings="true" category="State">
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<description>Settings for the @ref Attitude module used on CopterControl</description>
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<field name="AccelBias" units="lsb" type="int16" elementnames="X,Y,Z" defaultvalue="0"/>
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<field name="GyroBias" units="deg/s * 100" type="int16" elementnames="X,Y,Z" defaultvalue="0"/>
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<field name="BoardRotation" units="deg" type="int16" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
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<field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/>
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<field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/>
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<field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
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<field name="MagKi" units="" type="float" elements="1" defaultvalue="0"/>
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<field name="MagKp" units="" type="float" elements="1" defaultvalue="0"/>
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<field name="AccelTau" units="" type="float" elements="1" defaultvalue="0"/>
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<field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
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<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
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<field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
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<field name="TrimFlight" units="channel" type="enum" elements="1" options="NORMAL,START,LOAD" defaultvalue="NORMAL"/>
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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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