mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Felix Ruess
47 lines
3.7 KiB
XML
47 lines
3.7 KiB
XML
<!DOCTYPE settings SYSTEM "settings.dtd">
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<settings>
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<dl_settings>
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<dl_settings NAME="Misc">
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<dl_setting var="autopilot_mode_auto2" min="0" step="1" max="13" module="autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav|RC_D"/>
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<dl_setting var="kill_throttle" min="0" step="1" max="1" module="autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
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<dl_setting var="autopilot_power_switch" min="0" step="1" max="1" module="autopilot" values="OFF|ON" handler="SetPowerSwitch">
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<strip_button name="POWER ON" icon="on.png" value="1"/>
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<strip_button name="POWER OFF" icon="off.png" value="0"/>
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</dl_setting>
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<dl_setting var="autopilot_rc" min="0" step="1" max="1" module="autopilot" values="RC OFF|RC ON">
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<strip_button name="RC ON" value="1"/>
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<strip_button name="RC OFF" value="0"/>
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</dl_setting>
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</dl_settings>
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<dl_settings NAME="Vert Loop">
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<dl_setting var="guidance_v_kp" min="0" step="1" max="600" module="guidance/guidance_v" shortname="kp" param="GUIDANCE_V_HOVER_KP"/>
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<dl_setting var="guidance_v_kd" min="0" step="1" max="600" module="guidance/guidance_v" shortname="kd" param="GUIDANCE_V_HOVER_KD"/>
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<dl_setting var="guidance_v_ki" min="0" step="1" max="300" module="guidance/guidance_v" shortname="ki" handler="SetKi" param="GUIDANCE_V_HOVER_KI"/>
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<dl_setting var="guidance_v_nominal_throttle" min="0.1" step="0.01" max="0.9" module="guidance/guidance_v" shortname="nominal_throttle" handler="SetNominalHoverThrottle" alt_unit="%" alt_unit_coef="0.000104167" param="GUIDANCE_V_NOMINAL_HOVER_THROTTLE"/>
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<dl_setting var="guidance_v_z_sp" min="-5" step="0.5" max="3" module="guidance/guidance_v" shortname="sp" unit="2e-8m" alt_unit="m" alt_unit_coef="0.00390625"/>
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<dl_setting var="ins_vf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="vf_realign" values="OFF|ON"/>
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</dl_settings>
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<dl_settings NAME="Horiz Loop">
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<dl_setting var="guidance_h_pgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kp" param="GUIDANCE_H_PGAIN"/>
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<dl_setting var="guidance_h_dgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kd" param="GUIDANCE_H_DGAIN"/>
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<dl_setting var="guidance_h_igain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ki" handler="SetKi" param="GUIDANCE_H_IGAIN"/>
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<dl_setting var="guidance_h_again" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ka" param="GUIDANCE_H_AGAIN"/>
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<dl_setting var="guidance_h_pos_sp.x" MIN="-10" MAX="10" STEP="1" module="guidance/guidance_h" shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
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<dl_setting var="guidance_h_pos_sp.y" MIN="-10" MAX="10" STEP="1" module="guidance/guidance_h" shortname="sp_y_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
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<dl_setting var="guidance_h_psi_sp" MIN="-180" MAX="180" STEP="5" module="guidance/guidance_h" shortname="sp_psi" unit="1/2^20r" alt_unit="deg" alt_unit_coef="0.000054641513360"/>
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<dl_setting var="ins_hf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="hf_realign" values="OFF|ON"/>
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</dl_settings>
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<dl_settings NAME="NAV">
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<dl_setting var="flight_altitude" MIN="0" STEP="0.1" MAX="400" module="navigation" unit="m" handler="SetFlightAltitude"/>
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<dl_setting var="nav_heading" MIN="0" STEP="1" MAX="360" module="navigation" unit="1/2^12r" alt_unit="deg" alt_unit_coef="0.0139882"/>
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<dl_setting var="nav_radius" MIN="-150" STEP="0.1" MAX="150" module="navigation" unit="m"/>
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</dl_settings>
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</dl_settings>
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</settings>
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