mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
46 lines
2.9 KiB
XML
46 lines
2.9 KiB
XML
<xml>
|
|
|
|
<object name="StabilizationSettings" singleinstance="true" settings="true" category="Control">
|
|
<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
|
|
|
|
<!-- Note: The number of elements here must match the number of available flight modes -->
|
|
<field name="FlightModeMap" units="" type="enum"
|
|
options="Bank1,Bank2,Bank3"
|
|
elementnames="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,AltitudeVario,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner,POI"
|
|
defaultvalue="Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1"/>
|
|
|
|
<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
|
|
<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
|
|
<field name="VbarPitchPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
|
|
<field name="VbarYawPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
|
|
<field name="VbarTau" units="sec" type="float" elements="1" defaultvalue="0.5"/>
|
|
<field name="VbarGyroSuppress" units="%" type="int8" elements="1" defaultvalue="30"/>
|
|
<field name="VbarPiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
|
|
<field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>
|
|
|
|
<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
|
|
<field name="DerivativeCutoff" units="Hz" type="uint8" elements="1" defaultvalue="20"/>
|
|
<field name="DerivativeGamma" units="" type="float" elements="1" defaultvalue="1"/>
|
|
|
|
<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="30"/>
|
|
<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>
|
|
|
|
<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
|
|
<field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
|
|
|
|
<field name="RattitudeAntiWindup" units="" type="uint8" elements="1" defaultvalue="10"/>
|
|
|
|
<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
|
|
|
|
<field name="LowThrottleZeroAxis" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="FALSE,TRUE" defaultvalue="FALSE,FALSE,FALSE"/>
|
|
|
|
<field name="ScaleToAirspeed" units="m/s" type="float" elements="1" defaultvalue="0"/>
|
|
<field name="ScaleToAirspeedLimits" units="" type="float" elementnames="Min,Max" defaultvalue="0.05,3"/>
|
|
|
|
<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>
|