mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
8f5fb5aeb0
This is a partial rework of Cossacs' camera gimbal software. This patch adds LPF to airframe attitude used for camera stabilisation and feed forward for camera actuators. Either of options can be disabled on the compilation level to save flash and RAM if not required. Original Cossacs' code was optimized and code flow shortcuts were added where applicable.
22 lines
1.7 KiB
XML
22 lines
1.7 KiB
XML
<xml>
|
|
<object name="CameraStabSettings" singleinstance="true" settings="true">
|
|
<description>Settings for the @ref CameraStab mmodule</description>
|
|
<field name="Input" units="channel" type="enum" elementnames="Roll,Pitch,Yaw" options="Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5,None" defaultvalue="None"/>
|
|
<field name="InputRange" units="deg" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="20"/>
|
|
<field name="InputRate" units="deg/s" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="50"/>
|
|
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="Attitude,AxisLock" defaultvalue="Attitude"/>
|
|
<field name="MaxAxisLockRate" units="deg/s" type="float" elements="1" defaultvalue="1"/>
|
|
<field name="OutputRange" units="deg" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="20"/>
|
|
<field name="ResponseTime" units="ms" type="uint8" elements="1" defaultvalue="0"/>
|
|
<field name="GimbalType" units="" type="enum" elements="1" options="Yaw-Roll-Pitch,Yaw-Pitch-Roll" defaultvalue="Yaw-Roll-Pitch"/>
|
|
<field name="FeedForward" units="" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="0"/>
|
|
<field name="MaxAccel" units="units/sec" type="uint16" elements="1" defaultvalue="500"/>
|
|
<field name="AccelTime" units="ms" type="uint8" elements="1" defaultvalue="5"/>
|
|
<field name="DecelTime" units="ms" type="uint8" elements="1" defaultvalue="5"/>
|
|
<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>
|