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LibrePilot/shared/uavobjectdefinition/ekfconfiguration.xml

75 lines
2.5 KiB
XML

<xml>
<object name="EKFConfiguration" singleinstance="true" settings="true" category="State">
<description>Extended Kalman Filter initialisation</description>
<field name="P" units="1^2" type="float" defaultvalue="
10.0, 10.0, 10.0,
1.0, 1.0, 1.0,
0.007, 0.007, 0.007, 0.007,
0.0001, 0.0001, 0.0001">
<elementnames>
<elementname>PositionNorth</elementname>
<elementname>PositionEast</elementname>
<elementname>PositionDown</elementname>
<elementname>VelocityNorth</elementname>
<elementname>VelocityEast</elementname>
<elementname>VelocityDown</elementname>
<elementname>AttitudeQ1</elementname>
<elementname>AttitudeQ2</elementname>
<elementname>AttitudeQ3</elementname>
<elementname>AttitudeQ4</elementname>
<elementname>GyroDriftX</elementname>
<elementname>GyroDriftY</elementname>
<elementname>GyroDriftZ</elementname>
</elementnames>
</field>
<field name="Q" units="1^2" type="float" defaultvalue="
0.01, 0.01, 0.01,
0.1, 0.1, 0.1,
0.0000001, 0.0000001, 0.0000001">
<elementnames>
<elementname>GyroX</elementname>
<elementname>GyroY</elementname>
<elementname>GyroZ</elementname>
<elementname>AccelX</elementname>
<elementname>AccelY</elementname>
<elementname>AccelZ</elementname>
<elementname>GyroDriftX</elementname>
<elementname>GyroDriftY</elementname>
<elementname>GyroDriftZ</elementname>
</elementnames>
</field>
<field name="R" units="1^2" type="float" defaultvalue="
10, 10, 1000,
1, 1, 1,
5000, 5000, 5000,
1">
<elementnames>
<elementname>GPSPosNorth</elementname>
<elementname>GPSPosEast</elementname>
<elementname>GPSPosDown</elementname>
<elementname>GPSVelNorth</elementname>
<elementname>GPSVelEast</elementname>
<elementname>GPSVelDown</elementname>
<elementname>MagX</elementname>
<elementname>MagY</elementname>
<elementname>MagZ</elementname>
<elementname>BaroZ</elementname>
</elementnames>
</field>
<field name="FakeR" type="float" units="1^2" defaultvalue="
10,
1,
1000">
<elementnames>
<elementname>FakeGPSPosIndoor</elementname>
<elementname>FakeGPSVelIndoor</elementname>
<elementname>FakeGPSVelAirspeed</elementname>
</elementnames>
</field>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>