shared/uavobjectdefinition/vtolpathfollowersettings.xml

   1 <xml>
   2     <object name="VtolPathFollowerSettings" singleinstance="true" settings="true" category="Control">
   3         <description>Settings for the @ref VtolPathFollowerModule</description>
   4         <field name="TreatCustomCraftAs" units="switch" type="enum" elements="1" options="FixedWing,VTOL,Ground" defaultvalue="FixedWing"/>
   5         <field name="HorizontalVelMax" units="m/s" type="float" elements="1" defaultvalue="10.0" description="maximum allowed horizontal movement velocity"/>
   6         <field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="4.0" description="maximum allowed climb/dive velocity"/>
   7         <field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="1.0"/>
   8         <field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.25"/>
   9         <field name="VerticalPosP" units="" type="float" elements="1" defaultvalue="0.3"/>
  10         <field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="8.0, 0.5, 0.001, 0.95"/>
  11         <field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.15, 0.25, 0.005, 0.95"/>
  12         <field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
  13         <field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="2"/>
  14         <field name="ThrustControl" units="" type="enum" elements="1" options="Manual,Auto" defaultvalue="Auto"/>
  15         <field name="YawControl" units="" type="enum" elements="1" options="Manual,Tailin,MovementDirection,PathDirection,POI" defaultvalue="Manual"/>
  16         <field name="FlyawayEmergencyFallback" units="switch" type="enum" elements="1" options="Disabled,Enabled,Always,DebugTest" defaultvalue="Enabled"/>
  17         <field name="FlyawayEmergencyFallbackTriggerTime" units="s" type="float" elements="1" defaultvalue="10.0"/>
  18         <field name="EmergencyFallbackAttitude" units="deg" type="float" elementnames="Roll,Pitch" defaultvalue="0,-20.0"/>
  19         <field name="EmergencyFallbackYawRate" units="(deg/s)/deg" type="float" elementnames="kP,Max" defaultvalue="2.0, 30.0"/>
  20         <field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
  21         <field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="20"/>
  22         <field name="BrakeRate" units="m/s2" type="float" elements="1" defaultvalue="2.5"/>
  23         <field name="BrakeMaxPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
  24         <field name="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="18.0, 0.0, 0.001, 0.95"/>
  25         <field name="BrakeVelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="0"/>
  26         <field name="LandVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.95"/>
  27         <field name="AutoTakeoffVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.95"/>
  28         <field name="VelocityRoamMaxRollPitch" units="deg" type="float" elements="1" defaultvalue="20"/>
  29         <field name="VelocityRoamHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="12.0, 0.5, 0.001, 0.95"/>
  30         <access gcs="readwrite" flight="readwrite"/>
  31         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
  32         <telemetryflight acked="true" updatemode="onchange" period="0"/>
  33         <logging updatemode="manual" period="0"/>
  34     </object>
  35 </xml>