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55 lines
3.5 KiB
XML
55 lines
3.5 KiB
XML
<xml>
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<object name="StabilizationSettings" singleinstance="true" settings="true" category="Control">
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<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
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<!-- Note: The number of elements here must match the number of available flight mode switch positions -->
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<field name="FlightModeMap" units="" type="enum"
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options="Bank1,Bank2,Bank3"
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elements="6"
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defaultvalue="Bank1,Bank1,Bank1,Bank1,Bank1,Bank1"/>
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<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
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<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
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<field name="VbarPitchPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
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<field name="VbarYawPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
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<field name="VbarTau" units="sec" type="float" elements="1" defaultvalue="0.5"/>
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<field name="VbarGyroSuppress" units="%" type="int8" elements="1" defaultvalue="30"/>
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<field name="VbarPiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
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<field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>
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<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
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<field name="DerivativeCutoff" units="Hz" type="uint8" elements="1" defaultvalue="20"/>
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<field name="DerivativeGamma" units="" type="float" elements="1" defaultvalue="1"/>
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<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="30"/>
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<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>
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<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
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<field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
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<field name="RattitudeAntiWindup" units="" type="uint8" elements="1" defaultvalue="10"/>
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<field name="CruiseControlMinThrottle" units="%" type="uint8" elements="1" defaultvalue="5"/>
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<field name="CruiseControlMaxThrottle" units="%" type="uint8" elements="1" defaultvalue="90"/>
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<field name="CruiseControlMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="105"/>
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<field name="CruiseControlMaxPowerFactor" units="x" type="float" elements="1" defaultvalue="3.0"/>
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<field name="CruiseControlPowerTrim" units="%" type="float" elements="1" defaultvalue="100.0"/>
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<field name="CruiseControlInvertedPowerSwitch" units="" type="int8" elements="1" defaultvalue="0"/>
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<field name="CruiseControlNeutralThrust" units="%" type="uint8" elements="1" defaultvalue="0"/>
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<field name="CruiseControlFlightModeSwitchPosEnable" units="" type="enum" elements="6" options="FALSE,TRUE" defaultvalue="FALSE"/>
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<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
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<field name="LowThrottleZeroAxis" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="FALSE,TRUE" defaultvalue="FALSE,FALSE,FALSE"/>
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<field name="ScaleToAirspeed" units="m/s" type="float" elements="1" defaultvalue="0"/>
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<field name="ScaleToAirspeedLimits" units="" type="float" elementnames="Min,Max" defaultvalue="0.05,3"/>
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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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