shared/uavobjectdefinition/revosettings.xml

   1 <xml>
   2     <object name="RevoSettings" singleinstance="true" settings="true" category="State">
   3         <description>Settings for the revo to control the algorithm and what is updated</description>
   4         <field name="FusionAlgorithm" units="" type="enum" elements="1" options="None,Complementary,Complementary+Mag,Complementary+Mag+GPSOutdoor,INS13Indoor,INS13GPSOutdoor" defaultvalue="Complementary"/>
   5
   6         <!-- Low pass filter configuration to calculate offset of barometric altitude sensor.
   7         Defaults: updates at 5 Hz, tau = 300s settle time, exp(-(1/f)/tau) ~= 0.9993335555062
   8         Set BaroGPSOffsetCorrectionAlpha = 1.0 to completely disable baro offset updates. -->
   9         <field name="BaroGPSOffsetCorrectionAlpha" units="" type="float" elements="1" defaultvalue="0.9993335555062"/>
  10
  11         <!-- Configuration for magnetometer vector validity check -->
  12         <field name="MagnetometerMaxDeviation" units="%" type="float" elementnames="Warning,Error" defaultvalue="0.05,0.15" />
  13
  14         <!--  Cooefficients for the polynomial that models the barometer pressure bias as a function of temperature
  15               bias = a + b * temp + c * temp^2 + d * temp^3 -->
  16         <field name="BaroTempCorrectionPolynomial" units="" type="float" elements="4" elementnames="a,b,c,d" defaultvalue="0,0,0,0"/>
  17         <field name="BaroTempCorrectionExtent" units="" type="float" elements="2" elementnames="min,max" defaultvalue="0,0"/>
  18         <access gcs="readwrite" flight="readwrite"/>
  19         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
  20         <telemetryflight acked="true" updatemode="onchange" period="0"/>
  21         <logging updatemode="manual" period="0"/>
  22     </object>
  23 </xml>