shared/uavobjectdefinition/attitudesettings.xml

   1 <xml>
   2     <object name="AttitudeSettings" singleinstance="true" settings="true" category="State">
   3         <description>Settings for the @ref Attitude module used on CopterControl</description>
   4         <field name="BoardRotation" units="deg" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
   5         <field name="BoardLevelTrim" units="deg" type="float" elementnames="Roll,Pitch" defaultvalue="0,0"/>
   6         <field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/>
   7         <field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
   8         <field name="MagKi" units="" type="float" elements="1" defaultvalue="0.000001"/>
   9         <field name="MagKp" units="" type="float" elements="1" defaultvalue="0.01"/>
  10         <field name="AccelTau" units="" type="float" elements="1" defaultvalue="0.05"/>
  11         <field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
  12         <field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="False,True" defaultvalue="True"/>
  13         <field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="False,True" defaultvalue="True"/>
  14         <field name="InitialZeroWhenBoardSteady" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
  15         <field name="BoardSteadyMaxVariance" units="" type="float" elements="1" defaultvalue="2"/>
  16         <field name="TrimFlight" units="channel" type="enum" elements="1" options="NORMAL,START,LOAD" defaultvalue="NORMAL"/>
  17         <access gcs="readwrite" flight="readwrite"/>
  18         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
  19         <telemetryflight acked="true" updatemode="onchange" period="0"/>
  20         <logging updatemode="manual" period="0"/>
  21     </object>
  22 </xml>