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31 lines
2.1 KiB
XML
31 lines
2.1 KiB
XML
<xml>
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<object name="RevoSettings" singleinstance="true" settings="true" category="State">
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<description>Settings for the revo to control the algorithm and what is updated</description>
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<field name="FusionAlgorithm" units="" type="enum" elements="1"
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options="None,Basic (Complementary),Complementary+GPSOutdoor,Complementary+Mag,Complementary+Mag+GPSOutdoor,INS13Indoor,GPS Navigation (INS13),GPS Navigation (INS13+CF),Testing (INS Indoor+CF),Acro (No Sensors)"
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defaultvalue="Basic (Complementary)"/>
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<!-- Low pass filter configuration to calculate offset of barometric altitude sensor.
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Defaults: updates at 5 Hz, tau = 300s settle time, exp(-(1/f)/tau) ~= 0.9993335555062
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Set BaroGPSOffsetCorrectionAlpha = 1.0 to completely disable baro offset updates. -->
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<field name="BaroGPSOffsetCorrectionAlpha" units="" type="float" elements="1" defaultvalue="0.9993335555062"/>
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<!-- Configuration for magnetometer vector validity check -->
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<field name="MagnetometerMaxDeviation" units="%" type="float" elementnames="Warning,Error" defaultvalue="0.05,0.15" />
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<!-- Cooefficients for the polynomial that models the barometer pressure bias as a function of temperature
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bias = a + b * temp + c * temp^2 + d * temp^3 -->
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<field name="BaroTempCorrectionPolynomial" units="" type="float" elements="4" elementnames="a,b,c,d" defaultvalue="0,0,0,0"/>
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<field name="BaroTempCorrectionExtent" units="" type="float" elements="2" elementnames="min,max" defaultvalue="0,0"/>
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<!-- Coefficient for velocity estimate post processing low pass filter
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- filters velocity bias based on delta position to compensate offsets coming from EKF -->
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<field name="VelocityPostProcessingLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.999"/>
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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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