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0ef6779701
Change ILimit variable name to Beta in multiple PID loops that now use pid2 implementation. Change velocity controller yaw from axislock to rate.
34 lines
3.2 KiB
XML
34 lines
3.2 KiB
XML
<xml>
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<object name="VtolPathFollowerSettings" singleinstance="true" settings="true" category="Control">
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<description>Settings for the @ref VtolPathFollowerModule</description>
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<field name="TreatCustomCraftAs" units="switch" type="enum" elements="1" options="FixedWing,VTOL,Ground" defaultvalue="FixedWing"/>
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<field name="HorizontalVelMax" units="m/s" type="float" elements="1" defaultvalue="10.0" description="maximum allowed horizontal movement velocity"/>
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<field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="4.0" description="maximum allowed climb/dive velocity"/>
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<field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="1.0"/>
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<field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.25"/>
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<field name="VerticalPosP" units="" type="float" elements="1" defaultvalue="0.4"/>
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<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="8.0, 0.5, 0.0, 0.95"/>
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<field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.3, 0.3, 0.0, 0.95"/>
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<field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
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<field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="2"/>
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<field name="ThrustControl" units="" type="enum" elements="1" options="manual,auto" defaultvalue="manual"/>
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<field name="YawControl" units="" type="enum" elements="1" options="manual,tailin,movementdirection,pathdirection,poi" defaultvalue="manual"/>
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<field name="FlyawayEmergencyFallback" units="switch" type="enum" elements="1" options="disabled,enabled,always,debugtest" defaultvalue="enabled"/>
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<field name="FlyawayEmergencyFallbackTriggerTime" units="s" type="float" elements="1" defaultvalue="10.0"/>
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<field name="EmergencyFallbackAttitude" units="deg" type="float" elementnames="Roll,Pitch" defaultvalue="0,-20.0"/>
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<field name="EmergencyFallbackYawRate" units="(deg/s)/deg" type="float" elementnames="kP,Max" defaultvalue="2.0, 30.0"/>
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<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
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<field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="50"/>
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<field name="BrakeRate" units="m/s2" type="float" elements="1" defaultvalue="2.5"/>
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<field name="BrakeMaxPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
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<field name="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="12.0, 0.0, 0.03, 0.95"/>
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<field name="BrakeVelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="0"/>
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<field name="LandVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.95"/>
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<field name="AutoTakeoffVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.95"/>
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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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