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f4d1fc13ec
1. Update vtol vertical pids 2. Reduce deadband on throttle in gpsassist auto throttle to avoid large deviations in throttle change from neutral 3. Reinitialise assisted control state on mode change where the flight is the same but only gpsassist is going from disabled to enabled or enabled to disabled.
34 lines
3.3 KiB
XML
34 lines
3.3 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, 0.001, 0.95"/>
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<field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.5, 0.45, 0.001, 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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