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26 lines
1.9 KiB
XML
26 lines
1.9 KiB
XML
<xml>
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<object name="InsSettings" singleinstance="true" settings="true">
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<description>Settings for the INS to control the algorithm and what is updated</description>
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<field name="Algorithm" units="" type="enum" elements="1" options="NONE,SIMPLE,CALIBRATION,INSGPS_INDOOR_NOMAG,INSGPS_INDOOR,INSGPS_OUTDOOR,SENSORRAW,ZEROGYROS" defaultvalue="INSGPS_INDOOR_NOMAG"/>
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<field name="BiasCorrectedRaw" units="" type="enum" elements="1" options="TRUE,FALSE" defaultvalue="TRUE"/>
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<!-- Sensor noises -->
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<field name="accel_bias" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
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<field name="accel_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
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<field name="accel_var" units="(m/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
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<field name="gyro_bias" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
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<field name="gyro_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
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<field name="gyro_var" units="(deg/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
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<field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
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<field name="mag_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
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<field name="mag_var" units="mGau^2" type="float" elementnames="X,Y,Z" defaultvalue="50"/>
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<field name="vel_var" units="(m/s)^2" type="float" elements="1" defaultvalue="10"/>
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<field name="pos_var" units="m^2" type="float" elements="1" defaultvalue="0.04"/>
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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="never" period="0"/>
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</object>
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</xml>
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