mirror of
https://bitbucket.org/librepilot/librepilot.git
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75 lines
2.5 KiB
XML
75 lines
2.5 KiB
XML
<xml>
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<object name="EKFConfiguration" singleinstance="true" settings="true" category="State">
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<description>Extended Kalman Filter initialisation</description>
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<field name="P" units="1^2" type="float" defaultvalue="
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10.0, 10.0, 10.0,
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1.0, 1.0, 1.0,
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0.007, 0.007, 0.007, 0.007,
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0.0001, 0.0001, 0.0001">
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<elementnames>
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<elementname>PositionNorth</elementname>
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<elementname>PositionEast</elementname>
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<elementname>PositionDown</elementname>
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<elementname>VelocityNorth</elementname>
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<elementname>VelocityEast</elementname>
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<elementname>VelocityDown</elementname>
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<elementname>AttitudeQ1</elementname>
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<elementname>AttitudeQ2</elementname>
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<elementname>AttitudeQ3</elementname>
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<elementname>AttitudeQ4</elementname>
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<elementname>GyroDriftX</elementname>
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<elementname>GyroDriftY</elementname>
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<elementname>GyroDriftZ</elementname>
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</elementnames>
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</field>
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<field name="Q" units="1^2" type="float" defaultvalue="
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0.01, 0.01, 0.01,
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0.1, 0.1, 0.1,
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0.0000001, 0.0000001, 0.0000001">
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<elementnames>
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<elementname>GyroX</elementname>
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<elementname>GyroY</elementname>
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<elementname>GyroZ</elementname>
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<elementname>AccelX</elementname>
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<elementname>AccelY</elementname>
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<elementname>AccelZ</elementname>
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<elementname>GyroDriftX</elementname>
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<elementname>GyroDriftY</elementname>
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<elementname>GyroDriftZ</elementname>
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</elementnames>
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</field>
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<field name="R" units="1^2" type="float" defaultvalue="
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10, 10, 1000,
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1, 1, 1,
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5000, 5000, 5000,
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1">
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<elementnames>
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<elementname>GPSPosNorth</elementname>
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<elementname>GPSPosEast</elementname>
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<elementname>GPSPosDown</elementname>
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<elementname>GPSVelNorth</elementname>
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<elementname>GPSVelEast</elementname>
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<elementname>GPSVelDown</elementname>
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<elementname>MagX</elementname>
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<elementname>MagY</elementname>
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<elementname>MagZ</elementname>
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<elementname>BaroZ</elementname>
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</elementnames>
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</field>
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<field name="FakeR" type="float" units="1^2" defaultvalue="
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10,
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1,
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1000">
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<elementnames>
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<elementname>FakeGPSPosIndoor</elementname>
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<elementname>FakeGPSVelIndoor</elementname>
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<elementname>FakeGPSVelAirspeed</elementname>
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</elementnames>
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</field>
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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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