mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 16:58:48 +08:00
Antoine Drouin
63 lines
4.4 KiB
XML
63 lines
4.4 KiB
XML
<!DOCTYPE settings SYSTEM "settings.dtd">
|
|
|
|
<settings>
|
|
<dl_settings>
|
|
|
|
<dl_settings NAME="Misc">
|
|
<dl_setting var="telemetry_mode_Main" min="0" step="1" max="11" module="booz2_telemetry" shortname="telemetry" values="Default|PPM|Raw sensors|Scaled sensors|Filter|Rate loop|Att loop|Vert loop|H loop|Aligner|HS_att_roll|Tune_hover"/>
|
|
<dl_setting var="booz_fms_on" min="0" step="1" max="1" module="booz2_fms" shortname="fms_on" values="OFF|ON"/>
|
|
<!-- <dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="8" module="booz2_autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_Z|Att_Z|Hover|Hover_Z|Nav"/> -->
|
|
</dl_settings>
|
|
|
|
<dl_settings NAME="Rate Loop">
|
|
<dl_setting var="booz2_stabilization_rate_gain.x" min="-1000" step="1" max="-1" module="booz2_stabilization_rate" shortname="gain p"/>
|
|
<dl_setting var="booz2_stabilization_rate_gain.y" min="-1000" step="1" max="-1" module="booz2_stabilization_rate" shortname="gain q"/>
|
|
<dl_setting var="booz2_stabilization_rate_gain.z" min="-1000" step="1" max="-1" module="booz2_stabilization_rate" shortname="gain r"/>
|
|
</dl_settings>
|
|
|
|
|
|
<dl_settings NAME="Att Loop">
|
|
<dl_setting var="booz_stabilization_pgain.x" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="pgain phi"/>
|
|
<dl_setting var="booz_stabilization_pgain.y" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="pgain tetha"/>
|
|
<dl_setting var="booz_stabilization_pgain.z" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="pgain psi"/>
|
|
<dl_setting var="booz_stabilization_dgain.x" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="dgain p"/>
|
|
<dl_setting var="booz_stabilization_dgain.y" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="dgain q"/>
|
|
<dl_setting var="booz_stabilization_dgain.z" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="dgain r"/>
|
|
<dl_setting var="booz_stabilization_igain.x" min="-300" step="1" max="0" module="booz2_stabilization_attitude" shortname="igain phi"/>
|
|
<dl_setting var="booz_stabilization_igain.y" min="-300" step="1" max="0" module="booz2_stabilization_attitude" shortname="igain theta"/>
|
|
<dl_setting var="booz_stabilization_igain.z" min="-300" step="1" max="0" module="booz2_stabilization_attitude" shortname="igain psi"/>
|
|
<dl_setting var="booz_stabilization_ddgain.x" min="0" step="1" max="500" module="booz2_stabilization_attitude" shortname="ddgain p"/>
|
|
<dl_setting var="booz_stabilization_ddgain.y" min="0" step="1" max="500" module="booz2_stabilization_attitude" shortname="ddgain q"/>
|
|
<dl_setting var="booz_stabilization_ddgain.z" min="0" step="1" max="500" module="booz2_stabilization_attitude" shortname="ddgain r"/>
|
|
</dl_settings>
|
|
|
|
<dl_settings NAME="Vert Loop">
|
|
<dl_setting var="booz2_guidance_v_kp" min="-400" step="1" max="0" module="booz2_guidance_v" shortname="kp"/>
|
|
<dl_setting var="booz2_guidance_v_kd" min="-400" step="1" max="0" module="booz2_guidance_v" shortname="kd"/>
|
|
<dl_setting var="booz2_guidance_v_ki" min="-400" step="1" max="0" module="booz2_guidance_v" shortname="ki"/>
|
|
<dl_setting var="booz2_guidance_v_z_sp" min="50" step="1" max="950" module="booz2_guidance_v" shortname="sp"/>
|
|
</dl_settings>
|
|
|
|
<dl_settings NAME="Horiz Loop">
|
|
<dl_setting var="booz2_guidance_h_pgain" min="-400" step="1" max="0" module="booz2_guidance_h" shortname="kp"/>
|
|
<dl_setting var="booz2_guidance_h_dgain" min="-400" step="1" max="0" module="booz2_guidance_h" shortname="kd"/>
|
|
<dl_setting var="booz2_guidance_h_igain" min="-400" step="1" max="0" module="booz2_guidance_h" shortname="ki"/>
|
|
</dl_settings>
|
|
|
|
<dl_settings NAME="NAV">
|
|
<!-- <dl_setting var="booz2_navigation_waypoint_idx" min="0" step="1" max="4" module="booz2_navigation" shortname="wp" values="S1|S2|P1|P2|P3" handler="SetWp"/>-->
|
|
</dl_settings>
|
|
|
|
<dl_settings NAME="Filter">
|
|
<dl_setting var="booz2_face_reinj_1" min="512" step="512" max="262144" module="booz2_filter_attitude_cmpl_euler" shortname="reinj_1"/>
|
|
</dl_settings>
|
|
|
|
|
|
<dl_settings NAME="Analog Baro">
|
|
<dl_setting var="booz2_analog_baro_offset" min="1" step="1" max="1022" module="booz2_analog_baro" handler="SetOffset" shortname="offset"/>
|
|
</dl_settings>
|
|
|
|
|
|
</dl_settings>
|
|
</settings>
|