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LibrePilot/shared/uavobjectdefinition/revosettings.xml

31 lines
2.0 KiB
XML

<xml>
<object name="RevoSettings" singleinstance="true" settings="true" category="State">
<description>Settings for the revo to control the algorithm and what is updated</description>
<field name="FusionAlgorithm" units="" type="enum" elements="1"
options="None,Basic (Complementary),Complementary+Mag,Complementary+Mag+GPSOutdoor,INS13Indoor,GPS Navigation (INS13),GPS Navigation (INS13+CF),Testing (INS Indoor+CF)"
defaultvalue="Basic (Complementary)"/>
<!-- Low pass filter configuration to calculate offset of barometric altitude sensor.
Defaults: updates at 5 Hz, tau = 300s settle time, exp(-(1/f)/tau) ~= 0.9993335555062
Set BaroGPSOffsetCorrectionAlpha = 1.0 to completely disable baro offset updates. -->
<field name="BaroGPSOffsetCorrectionAlpha" units="" type="float" elements="1" defaultvalue="0.9993335555062"/>
<!-- Configuration for magnetometer vector validity check -->
<field name="MagnetometerMaxDeviation" units="%" type="float" elementnames="Warning,Error" defaultvalue="0.05,0.15" />
<!-- Cooefficients for the polynomial that models the barometer pressure bias as a function of temperature
bias = a + b * temp + c * temp^2 + d * temp^3 -->
<field name="BaroTempCorrectionPolynomial" units="" type="float" elements="4" elementnames="a,b,c,d" defaultvalue="0,0,0,0"/>
<field name="BaroTempCorrectionExtent" units="" type="float" elements="2" elementnames="min,max" defaultvalue="0,0"/>
<!-- Coefficient for velocity estimate post processing low pass filter
- filters velocity bias based on delta position to compensate offsets coming from EKF -->
<field name="VelocityPostProcessingLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.999"/>
<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>