shared/uavobjectdefinition/txpidsettings.xml

   1 <xml>
   2     <object name="TxPIDSettings" singleinstance="true" settings="true" category="Control">
   3         <description>Settings used by @ref TxPID optional module to tune PID settings using R/C transmitter</description>
   4         <field name="UpdateMode" units="option" type="enum" elements="1" options="Never,When Armed,Always" defaultvalue="When Armed"/>
   5         <field name="BankNumber" units="" type="enum" options="Bank1,Bank2,Bank3" elements="1" defaultvalue="Bank1"/>
   6         <field name="Inputs" units="channel" type="enum"
   7                 elementnames="Instance1,Instance2,Instance3"
   8                 options="Throttle,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5"
   9                 defaultvalue="Throttle,Accessory0,Accessory1"/>
  10         <field name="ThrottleRange" units="%" type="float" elements="2" elementnames="Min,Max" defaultvalue="0.20,0.80"/>
  11         <field name="PIDs" units="option" type="enum"
  12                 elementnames="Instance1,Instance2,Instance3"
  13                 options="Disabled,
  14                         EasyTuneRatePitch,EasyTuneRateRoll,
  15                         Roll Rate.Kp, Roll Rate.Ki, Roll Rate.Kd, Roll Rate.ILimit, Roll Rate.Resp,
  16                         Pitch Rate.Kp, Pitch Rate.Ki, Pitch Rate.Kd, Pitch Rate.ILimit, Pitch Rate.Resp,
  17                         Roll+Pitch Rate.Kp, Roll+Pitch Rate.Ki, Roll+Pitch Rate.Kd, Roll+Pitch Rate.ILimit, Roll+Pitch Rate.Resp,
  18                         Yaw Rate.Kp, Yaw Rate.Ki, Yaw Rate.Kd, Yaw Rate.ILimit, Yaw Rate.Resp,
  19                         Roll Attitude.Kp, Roll Attitude.Ki, Roll Attitude.ILimit, Roll Attitude.Resp,
  20                         Pitch Attitude.Kp, Pitch Attitude.Ki, Pitch Attitude.ILimit, Pitch Attitude.Resp,
  21                         Roll+Pitch Attitude.Kp, Roll+Pitch Attitude.Ki, Roll+Pitch Attitude.ILimit, Roll+Pitch Attitude.Resp,
  22                         Yaw Attitude.Kp, Yaw Attitude.Ki, Yaw Attitude.ILimit, Yaw Attitude.Resp,
  23                         Roll.Expo, Pitch.Expo, Roll+Pitch.Expo, Yaw.Expo,
  24                         GyroTau,Acro+ Roll Factor,Acro+ Pitch Factor,Acro+ Roll+Pitch Factor,Altitude Pos.Kp,Altitude Velocity.Kp,Altitude Velocity.Ki,Altitude Velocity.Kd,Altitude Velocity.Beta,
  25                         AccelTau, AccelKp, AccelKi"
  26                 defaultvalue="Disabled"/>
  27
  28         <field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
  29         <field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
  30
  31         <field name="EasyTunePitchRollRateFactors" units="" type="float" elementnames="I,D" defaultvalue="3,0.0135"/>
  32         <field name="EasyTuneYawRateFactors" units="" type="float" elementnames="P,I,D" defaultvalue="1.5,1.9,0.0085"/>
  33         <field name="EasyTuneRatePIDRecalculateYaw" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
  34
  35         <access gcs="readwrite" flight="readwrite"/>
  36         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
  37         <telemetryflight acked="true" updatemode="onchange" period="0"/>
  38         <logging updatemode="manual" period="0"/>
  39     </object>
  40 </xml>