Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-01 19:07:45 +08:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

Updated injected XML file

Browse Source
This commit is contained in:
Lorenz Meier
2015-11-10 23:02:54 +01:00
parent b3bb8adbc5
commit dcc9e29b66
1 changed files with 34 additions and 41 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Tools/parameters_injected.xml
+34 -41
View File
@@ -15,7 +15,7 @@
<min>0</min> <min>0</min>
<max>1</max> <max>1</max>
</parameter> </parameter>
<parameter default="1" name="ctl_gain" type="FLOAT"> <parameter default="1" name="ctl_gain" type="FLOAT">
<short_desc>Speed (RPM) controller gain</short_desc> <short_desc>Speed (RPM) controller gain</short_desc>
<long_desc>Speed (RPM) controller gain. Determines controller <long_desc>Speed (RPM) controller gain. Determines controller
aggressiveness; units are amp-seconds per radian. Systems with aggressiveness; units are amp-seconds per radian. Systems with
@@ -24,59 +24,53 @@
decreased. Higher values result in faster response, but may result decreased. Higher values result in faster response, but may result
in oscillation and excessive overshoot. Lower values result in a in oscillation and excessive overshoot. Lower values result in a
slower, smoother response.</long_desc> slower, smoother response.</long_desc>
<unit>amp-seconds per radian</unit> <unit>amp-seconds per radian</unit>
<decimal>3</decimal> <decimal>3</decimal>
<min>0.00</min> <min>0.00</min>
<max>1.00</max> <max>1.00</max>
</parameter> </parameter>
<parameter default="3.5" name="ctl_hz_idle" type="FLOAT"> <parameter default="3.5" name="ctl_hz_idle" type="FLOAT">
<short_desc>Idle speed (e Hz)</short_desc> <short_desc>Idle speed (e Hz)</short_desc>
<long_desc>Idle speed (e Hz)</long_desc> <long_desc>Idle speed (e Hz)</long_desc>
<unit>Hertz</unit> <unit>Hertz</unit>
<decimal>3</decimal> <decimal>3</decimal>
<min>0.0</min> <min>0.0</min>
<max>100.0</max> <max>100.0</max>
</parameter> </parameter>
<parameter default="25" name="ctl_start_rate" type="INT32"> <parameter default="25" name="ctl_start_rate" type="INT32">
<short_desc>Spin-up rate (e Hz/s)</short_desc> <short_desc>Spin-up rate (e Hz/s)</short_desc>
<long_desc>Spin-up rate (e Hz/s)</long_desc> <long_desc>Spin-up rate (e Hz/s)</long_desc>
<unit>Hz/s</unit> <unit>Hz/s</unit>
<decimal></decimal>
<min>5</min> <min>5</min>
<max>1000</max> <max>1000</max>
</parameter> </parameter>
<parameter default="0" name="esc_index" type="INT32"> <parameter default="0" name="esc_index" type="INT32">
<short_desc>Index of this ESC in throttle command messages.</short_desc> <short_desc>Index of this ESC in throttle command messages.</short_desc>
<long_desc>Index of this ESC in throttle command messages.</long_desc> <long_desc>Index of this ESC in throttle command messages.</long_desc>
<unit>Index</unit> <unit>Index</unit>
<decimal></decimal>
<min>0</min> <min>0</min>
<max>15</max> <max>15</max>
</parameter> </parameter>
<parameter default="20034" name="id_ext_status" type="INT32"> <parameter default="20034" name="id_ext_status" type="INT32">
<short_desc>Extended status ID</short_desc> <short_desc>Extended status ID</short_desc>
<long_desc>Extended status ID</long_desc> <long_desc>Extended status ID</long_desc>
<unit></unit>
<decimal></decimal>
<min>1</min> <min>1</min>
<max>1023</max> <max>1023</max>
</parameter> </parameter>
<parameter default="50000" name="int_ext_status" type="INT32"> <parameter default="50000" name="int_ext_status" type="INT32">
<short_desc>Extended status interval (µs)</short_desc> <short_desc>Extended status interval (µs)</short_desc>
<long_desc>Extended status interval (µs)</long_desc> <long_desc>Extended status interval (µs)</long_desc>
<unit>µs</unit> <unit>µs</unit>
<decimal></decimal>
<min>0</min> <min>0</min>
<max>1000000</max> <max>1000000</max>
</parameter> </parameter>
<parameter default="50000" name="int_status" type="INT32"> <parameter default="50000" name="int_status" type="INT32">
<short_desc>ESC status interval (µs)</short_desc> <short_desc>ESC status interval (µs)</short_desc>
<long_desc>ESC status interval (µs)</long_desc> <long_desc>ESC status interval (µs)</long_desc>
<unit>µs</unit> <unit>µs</unit>
<decimal></decimal>
<max>1000000</max> <max>1000000</max>
</parameter> </parameter>
<parameter default="12" name="mot_i_max" type="FLOAT"> <parameter default="12" name="mot_i_max" type="FLOAT">
<short_desc>Motor current limit in amps</short_desc> <short_desc>Motor current limit in amps</short_desc>
<long_desc>Motor current limit in amps. This determines the maximum <long_desc>Motor current limit in amps. This determines the maximum
current controller setpoint, as well as the maximum allowable current controller setpoint, as well as the maximum allowable
@@ -84,62 +78,61 @@
the continuous current rating listed in the motor’s specification the continuous current rating listed in the motor’s specification
sheet, or set equal to the motor’s specified continuous power sheet, or set equal to the motor’s specified continuous power
divided by the motor voltage limit.</long_desc> divided by the motor voltage limit.</long_desc>
<unit>Amps</unit> <unit>Amps</unit>
<decimal>3</decimal> <decimal>3</decimal>
<min>1</min> <min>1</min>
<max>80</max> <max>80</max>
</parameter> </parameter>
<parameter default="2300" name="mot_kv" type="INT32"> <parameter default="2300" name="mot_kv" type="INT32">
<short_desc>Motor Kv in RPM per volt</short_desc> <short_desc>Motor Kv in RPM per volt</short_desc>
<long_desc>Motor Kv in RPM per volt. This can be taken from the motor’s <long_desc>Motor Kv in RPM per volt. This can be taken from the motor’s
specification sheet; accuracy will help control performance but specification sheet; accuracy will help control performance but
some deviation from the specified value is acceptable.</long_desc> some deviation from the specified value is acceptable.</long_desc>
<unit>RPM/v</unit> <unit>RPM/v</unit>
<decimal>0</decimal> <decimal>0</decimal>
<min>0</min> <min>0</min>
<max>100</max> <max>100</max>
</parameter> </parameter>
<parameter default="0.0" name="mot_ls" type="FLOAT"> <parameter default="0.0" name="mot_ls" type="FLOAT">
<short_desc>READ ONLY: Motor inductance in henries.</short_desc> <short_desc>READ ONLY: Motor inductance in henries.</short_desc>
<long_desc>READ ONLY: Motor inductance in henries. This is measured on start-up.</long_desc> <long_desc>READ ONLY: Motor inductance in henries. This is measured on start-up.</long_desc>
<unit>henries</unit> <unit>henries</unit>
<decimal>3</decimal> <decimal>3</decimal>
</parameter> </parameter>
<parameter default="14" name="mot_num_poles" type="INT32"> <parameter default="14" name="mot_num_poles" type="INT32">
<short_desc>Number of motor poles.</short_desc> <short_desc>Number of motor poles.</short_desc>
<long_desc>Number of motor poles. Used to convert mechanical speeds to <long_desc>Number of motor poles. Used to convert mechanical speeds to
electrical speeds. This number should be taken from the motor’s electrical speeds. This number should be taken from the motor’s
specification sheet.</long_desc> specification sheet.</long_desc>
<unit>Poles</unit> <unit>Poles</unit>
<decimal></decimal>
<min>2</min> <min>2</min>
<max>40</max> <max>40</max>
</parameter> </parameter>
<parameter default="0.0" name="mot_rs" type="FLOAT"> <parameter default="0.0" name="mot_rs" type="FLOAT">
<short_desc>READ ONLY: Motor resistance in ohms</short_desc> <short_desc>READ ONLY: Motor resistance in ohms</short_desc>
<long_desc>READ ONLY: Motor resistance in ohms. This is measured on start-up. When <long_desc>READ ONLY: Motor resistance in ohms. This is measured on start-up. When
tuning a new motor, check that this value is approximately equal tuning a new motor, check that this value is approximately equal
to the value shown in the motor’s specification sheet.</long_desc> to the value shown in the motor’s specification sheet.</long_desc>
<unit>Ohms</unit> <unit>Ohms</unit>
<decimal>3</decimal> <decimal>3</decimal>
</parameter> </parameter>
<parameter default=".5" name="mot_v_accel" type="INT32"> <parameter default=".5" name="mot_v_accel" type="INT32">
<short_desc>Acceleration limit (V)</short_desc> <short_desc>Acceleration limit (V)</short_desc>
<long_desc>Acceleration limit (V)</long_desc> <long_desc>Acceleration limit (V)</long_desc>
<unit>Volts</unit> <unit>Volts</unit>
<decimal>3</decimal> <decimal>3</decimal>
<min>0.01</min> <min>0.01</min>
<max>1.00</max> <max>1.00</max>
</parameter> </parameter>
<parameter default="14.8" name="mot_v_max" type="FLOAT"> <parameter default="14.8" name="mot_v_max" type="FLOAT">
<short_desc>Motor voltage limit in volts</short_desc> <short_desc>Motor voltage limit in volts</short_desc>
<long_desc>Motor voltage limit in volts. The current controller’s <long_desc>Motor voltage limit in volts. The current controller’s
commanded voltage will never exceed this value. Note that this may commanded voltage will never exceed this value. Note that this may
safely be above the nominal voltage of the motor; to determine the safely be above the nominal voltage of the motor; to determine the
actual motor voltage limit, divide the motor’s rated power by the actual motor voltage limit, divide the motor’s rated power by the
motor current limit.</long_desc> motor current limit.</long_desc>
<unit>Volts</unit> <unit>Volts</unit>
<decimal>3</decimal> <decimal>3</decimal>
<min>0</min> <min>0</min>
</parameter> </parameter>
</group> </group>