shared/uavobjectdefinition/stabilizationbank.xml

   1 <xml>
   2     <object name="StabilizationBank" singleinstance="true" settings="false" category="Control">
   3         <description>Currently selected PID bank</description>
   4
   5         <field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
   6         <field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
   7         <field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
   8         <field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
   9         <field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
  10
  11         <field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
  12         <field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
  13         <field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
  14         <field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
  15         <field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
  16         <field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit"/>
  17         <access gcs="readwrite" flight="readwrite"/>
  18         <telemetrygcs acked="false" updatemode="manual" period="0"/>
  19         <telemetryflight acked="false" updatemode="periodic" period="1000"/>
  20         <logging updatemode="manual" period="0"/>
  21 </object>
  22
  23 </xml>