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53 lines
4.0 KiB
XML
53 lines
4.0 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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<!-- these coefficients control desired movement in airspace -->
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<field name="AirSpeedMax" units="m/s" type="float" elements="1" defaultvalue="15"/>
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<!-- maximum speed the aircraft can reach in level flight at full throttle without loosing altitude - leave some safety margin -->
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<field name="AirSpeedMin" units="m/s" type="float" elements="1" defaultvalue="10"/>
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<!-- stall speed - leave some safety margin -->
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<field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="10"/>
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<!-- maximum allowed climb or sink rate in guided flight-->
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<field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.05"/>
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<!-- proportional coefficient for correction vector in path vector field to get back on course - reduce for fast planes to prevent course oscillations -->
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<field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.05"/>
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<!-- proportional coefficient for desired vertical speed in relation to altitude displacement-->
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<!-- these coefficients control actual control outputs -->
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<field name="CoursePI" units="deg/deg" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="0.2, 0, 0"/>
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<!-- coefficients for desired bank angle in relation to ground heading error - this controls heading -->
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<field name="SpeedP" units="(m/s^2) / ((m/s)/(m/s)" type="float" elementnames="Kp,Max" defaultvalue="10,10"/>
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<!-- coefficients for desired acceleration
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in relation to relative airspeed error (IASerror/IASactual)-->
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<field name="AccelPI" units="deg / (m/s^2)" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="1.5, 1.5, 20"/>
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<!-- coefficients for desired pitch
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in relation to acceleration error -->
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<field name="VerticalToPitchCrossFeed" units="deg / ((m/s)/(m/s))" type="float" elementnames="Kp,Max" defaultvalue="50, 5"/>
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<!-- coefficients for adjusting desired pitch
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in relation to "vertical speed error relative to airspeed" (verror/IASactual) -->
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<field name="AirspeedToVerticalCrossFeed" units="(m/s) / ((m/s)/(m/s))" type="float" elementnames="Kp,Max" defaultvalue="100, 100"/>
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<!-- proportional coefficient for adjusting vertical speed error for power calculation
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in relation to relative airspeed error (IASerror/IASactual) -->
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<field name="PowerPI" units="1/(m/s)" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="0.01,0.01,0.8"/>
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<!-- proportional coefficient for desired throttle
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in relation to vertical speed error (absolute but including crossfeed) -->
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<!-- output limits -->
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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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<!-- maximum allowed bank angles in navigates flight -->
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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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<!-- maximum allowed pitch angles and setpoint for neutral pitch -->
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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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<!-- minimum and maximum allowed throttle and setpoint for cruise speed -->
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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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