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Line 28... | Line 28... | ||
28 | <parameter name="gyroDFilterConstant" value="1" /> |
28 | <parameter name="gyroDFilterConstant" value="1" /> |
29 | <parameter name="accFilterConstant" value="15" /> |
29 | <parameter name="accFilterConstant" value="15" /> |
Line 30... | Line 30... | ||
30 | 30 | ||
31 | <parameter name="zerothOrderCorrection" value="10" /> |
31 | <parameter name="zerothOrderCorrection" value="10" /> |
32 | <parameter name="zerothOrderCorrectionAccTolerance" value="50" /> |
32 | <parameter name="zerothOrderCorrectionAccTolerance" value="50" /> |
33 | <parameter name="zerothOrderCorrectionControlTolerance" value="80" /> |
33 | <parameter name="zerothOrderCorrectionControlTolerance" value="50" /> |
34 | <parameter name="maxControlActivity" value="0" /> |
34 | <parameter name="maxControlActivity" value="0" /> |
Line 35... | Line 35... | ||
35 | <parameter name="maxAccVector" value="0" /> |
35 | <parameter name="maxAccVector" value="0" /> |
36 | 36 | ||
Line 50... | Line 50... | ||
50 | <parameter name="stickD" value="2" /> |
50 | <parameter name="stickD" value="2" /> |
51 | <parameter name="stickYawP" value="8" /> |
51 | <parameter name="stickYawP" value="8" /> |
52 | <parameter name="stickThrottleD" value="4" /> |
52 | <parameter name="stickThrottleD" value="4" /> |
Line 53... | Line 53... | ||
53 | 53 | ||
54 | <parameter name="minThrottle" value="4" /> |
54 | <parameter name="minThrottle" value="4" /> |
Line 55... | Line 55... | ||
55 | <parameter name="maxThrottle" value="230" /> |
55 | <parameter name="maxThrottle" value="220" /> |
56 | 56 | ||
57 | <parameter name="externalControl" value="0" /> |
57 | <parameter name="externalControl" value="0" /> |
Line 58... | Line 58... | ||
58 | <parameter name="motorSmoothing" value="0" /> |
58 | <parameter name="motorSmoothing" value="0" /> |
59 | <parameter name="dynamicStability" value="50" /> |
59 | <parameter name="dynamicStability" value="50" /> |
Line 60... | Line 60... | ||
60 | 60 | ||
61 | <parameter name="IFactor" value="0" /> |
61 | <parameter name="IFactor" value="0" /> |
62 | <parameter name="yawIFactor" value="50" /> |
62 | <parameter name="yawIFactor" value="50" /> |
63 | 63 | ||
Line 64... | Line 64... | ||
64 | <parameter name="compassMode" value="0" /> |
64 | <parameter name="compassMode" value="0" /> |
65 | <parameter name="compassYawCorrection" value="8" /> |
65 | <parameter name="compassYawCorrection" value="20" /> |
66 | <parameter name="compassBendingReturnSpeed" value="16" /> |
66 | <parameter name="compassBendingReturnSpeed" value="16" /> |
Line 67... | Line 67... | ||
67 | <parameter name="compassP" value="50" /> |
67 | <parameter name="compassP" value="50" /> |
68 | 68 | ||
69 | <parameter name="batteryVoltageWarning" value="100" /> |
69 | <parameter name="batteryVoltageWarning" value="100" /> |
70 | <parameter name="emergencyThrottle" value="40" /> |
70 | <parameter name="emergencyThrottle" value="40" /> |
71 | <parameter name="emergencyFlightDuration" value="30" /> |
71 | <parameter name="emergencyFlightDuration" value="30" /> |
72 | 72 | ||
73 | <parameter name="airpressureFilterConstant" value="8" /> |
73 | <parameter name="airpressureFilterConstant" value="8" /> |
74 | <parameter name="airpressureWindowLength" value="0" /> |
74 | <parameter name="airpressureWindowLength" value="0" /> |
75 | <parameter name="airpressureDWindowLength" value="31" /> |
75 | <parameter name="airpressureDWindowLength" value="32" /> |
76 | <parameter name="airpressureAccZCorrection" value="184" /> |
76 | <parameter name="airpressureAccZCorrection" value="184" /> |
77 | <parameter name="heightP" value="60" /> |
77 | <parameter name="heightP" value="120" /> |
Line 78... | Line 78... | ||
78 | <parameter name="heightI" value="60" /> |
78 | <parameter name="heightI" value="100" /> |
79 | <parameter name="heightD" value="10" /> |
79 | <parameter name="heightD" value="25" /> <!-- 30 --> |
Line 80... | Line 80... | ||
80 | <parameter name="heightSetting" value="var0" /> |
80 | <parameter name="heightSetting" value="var0" /> |
81 | <parameter name="heightControlMaxIntegralIn" value="200" /> |
81 | <parameter name="heightControlMaxIntegralIn" value="125" /> |
82 | <parameter name="heightControlMaxIntegralOut" value="50" /> |
82 | <parameter name="heightControlMaxIntegralOut" value="75" /> |
83 | <parameter name="heightMaxThrottleChange" value="50" /> |
83 | <parameter name="heightMaxThrottleChange" value="75" /> |
Line 158... | Line 158... | ||
158 | <bit name="TEST_ON" value="0" /> |
158 | <bit name="TEST_ON" value="0" /> |
159 | <bit name="UNUSED" value="0" /> |
159 | <bit name="UNUSED" value="0" /> |
160 | </parameter> |
160 | </parameter> |
Line 161... | Line 161... | ||
161 | 161 | ||
162 | <parameter name="naviMode" value="var0" /> |
162 | <parameter name="naviMode" value="var0" /> |
163 | <parameter name="naviStickThreshold" value="100" /> |
163 | <parameter name="naviStickThreshold" value="50" /> |
164 | <parameter name="naviStickLimit" value="50" /> |
164 | <parameter name="naviStickLimit" value="50" /> |
165 | <parameter name="GPSMinimumSatellites" value="6" /> |
165 | <parameter name="GPSMinimumSatellites" value="6" /> |
166 | <parameter name="naviP" value="25" /> |
166 | <parameter name="naviP" value="30" /> |
167 | <parameter name="naviI" value="5" /> |
167 | <parameter name="naviI" value="60" /> |
Line 168... | Line 168... | ||
168 | <parameter name="naviD" value="20" /> |
168 | <parameter name="naviD" value="40" /> |
169 | 169 | ||
170 | <parameter name="userparam0" value="0" /> |
170 | <parameter name="userparam0" value="0" /> |
171 | <parameter name="userparam1" value="0" /> |
171 | <parameter name="userparam1" value="0" /> |