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574ab3fcaa
Note that RTH mode right now checks that throttle control is enabled, but this should only occur if the system is a VTOL.
23 lines
1.8 KiB
XML
23 lines
1.8 KiB
XML
<xml>
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<object name="VtolPathFollowerSettings" singleinstance="true" settings="true">
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<description>Settings for the @ref VtolPathFollowerModule</description>
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<field name="GuidanceMode" units="" type="enum" elements="1" options="DUAL_LOOP,VELOCITY_CONTROL" defaultvalue="DUAL_LOOP"/>
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<field name="HorizontalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="10"/>
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<field name="VerticalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="1"/>
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<field name="HorizontalPosPI" units="(m/s)/m" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="1,0,0"/>
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<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="5,0,1,0"/>
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<field name="VerticalPosPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.1,0.001,200"/>
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<field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0,0,0"/>
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<field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="0"/>
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<field name="ThrottleControl" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
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<field name="VelocitySource" units="" type="enum" elements="1" options="EKF,NEDVEL,GPSPOS" defaultvalue="EKF"/>
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<field name="PositionSource" units="" type="enum" elements="1" options="EKF,GPSPOS" defaultvalue="EKF"/>
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<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="20"/>
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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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