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Rev | Author | Line No. | Line |
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1564 | - | 1 | <parameterset eepromVersion="3" length="73"> |
1559 | - | 2 | <parameter name="bitConfig"> |
1570 | - | 3 | <bit name="CFG_SIMPLE_HEIGHT_CONTROL" value="1"/> |
1559 | - | 4 | <bit name="CFG_SIMPLE_HC_HOLD_SWITCH" value="0"/> |
1566 | - | 5 | <bit name="CFG_HEADING_HOLD" value="0"/> |
1559 | - | 6 | <bit name="CFG_COMPASS_ACTIVE" value="0"/> |
7 | <bit name="CFG_COMPASS_FIX" value="0"/> |
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8 | <bit name="CFG_GPS_ACTIVE" value="0"/> |
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9 | <bit name="CFG_AXIS_COUPLING_ACTIVE" value="0"/> |
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10 | <bit name="CFG_GYRO_SATURATION_PREVENTION" value="1"/> |
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11 | </parameter> |
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12 | |||
13 | <parameter name="gyroQuadrant" value="0"/> |
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14 | <parameter name="accQuadrant" value="4"/> |
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15 | <parameter name="imuReversedFlags"> |
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16 | <bit name="IMU_REVERSE_GYRO_PR" value="0"/> |
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17 | <bit name="IMU_REVERSE_GYRO_YAW" value="0"/> |
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18 | <bit name="IMU_REVERSE_ACC_XY" value="1"/> |
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19 | <bit name="IMU_REVERSE_ACC_Z" value="0"/> |
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20 | <bit name="Unused" value="0"/> |
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21 | <bit name="Unused" value="0"/> |
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22 | <bit name="Unused" value="0"/> |
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23 | <bit name="Unused" value="0"/> |
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24 | </parameter> |
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25 | |||
26 | <parameter name="gyroPIDFilterConstant" value="1"/> |
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27 | <parameter name="gyroATTFilterConstant" value="1"/> |
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28 | <parameter name="gyroDFilterConstant" value="1"/> |
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29 | <parameter name="accFilterConstant" value="15"/> |
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30 | |||
31 | <parameter name="maxAccVector" value="250"/> |
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32 | <parameter name="maxControlActivity" value="25"/> |
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33 | <parameter name="zerothOrderCorrection" value="10"/> |
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34 | <parameter name="driftCompDivider" value="2"/> |
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35 | <parameter name="driftCompLimit" value="0"/> |
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36 | |||
37 | <parameter name="axisCoupling1" value="90"/> |
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38 | <parameter name="axisCoupling2" value="67"/> |
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39 | <parameter name="axisCouplingYawCorrection" value="0"/> |
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40 | |||
41 | <parameter name="levelCorrectionPitch" value="128"/> |
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42 | <parameter name="levelCorrectionRoll" value="128"/> |
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43 | |||
44 | <parameter name="gyroP" value="70"/> |
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1562 | - | 45 | <parameter name="gyroI" value="40"/> |
1559 | - | 46 | <parameter name="gyroD" value="40"/> |
47 | <parameter name="attitudeControl" value="0"/> |
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48 | <parameter name="stickP" value="8"/> |
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49 | <parameter name="stickD" value="2"/> |
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50 | <parameter name="stickYawP" value="8"/> |
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51 | <parameter name="stickThrottleD" value="8"/> |
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1562 | - | 52 | <parameter name="minThrottle" value="4"/> |
1559 | - | 53 | <parameter name="maxThrottle" value="230"/> |
54 | <parameter name="externalControl" value="0"/> |
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55 | <parameter name="motorSmoothing" value="0"/> |
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56 | <parameter name="dynamicStability" value="50"/> |
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57 | <parameter name="IFactor" value="32"/> |
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1562 | - | 58 | <parameter name="yawIFactor" value="40"/> |
1559 | - | 59 | <parameter name="compassYawEffect" value="128"/> |
60 | <parameter name="batteryVoltageWarning" value="100"/> |
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1562 | - | 61 | <parameter name="emergencyThrottle" value="40"/> |
1559 | - | 62 | <parameter name="emergencyFlightDuration" value="30"/> |
63 | |||
64 | |||
1564 | - | 65 | <parameter name="airpressureFilterConstant" value="8"/> |
66 | <parameter name="airpressureWindowLength" value="0"/> |
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1559 | - | 67 | <parameter name="airpressureAccZCorrection" value="184"/> |
1562 | - | 68 | <parameter name="heightP" value="var1"/> |
69 | <parameter name="heightI" value="var2"/> |
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1570 | - | 70 | <parameter name="heightD" value="100"/> |
1559 | - | 71 | <parameter name="heightSetting" value="var0"/> |
1570 | - | 72 | <parameter name="heightControlMaxIntegral" value="40"/> |
73 | <parameter name="heightMaxThrottleChange" value="40"/> |
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1560 | - | 74 | <parameter name="heightSlewRate" value="200"/> |
1559 | - | 75 | |
76 | |||
77 | <parameter name="servoCount" value="7"/> |
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78 | <parameter name="servoManualMaxSpeed" value="10"/> |
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79 | <parameter name="pitchServoControl" value="128"/> |
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80 | <parameter name="pitchServoStabilization" value="0"/> |
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81 | <parameter name="pitchServoMinValue" value="32"/> |
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82 | <parameter name="pitchServoMaxValue" value="224"/> |
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83 | <parameter name="pitchServoFlags"> |
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84 | <bit name="reverseStabilization" value="0"/> |
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85 | <bit name="Unused" value="0"/> |
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86 | <bit name="Unused" value="0"/> |
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87 | <bit name="Unused" value="0"/> |
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88 | <bit name="Unused" value="0"/> |
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89 | <bit name="Unused" value="0"/> |
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90 | <bit name="Unused" value="0"/> |
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91 | <bit name="Unused" value="0"/> |
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92 | </parameter> |
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93 | <parameter name="rollServoControl" value="128"/> |
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94 | <parameter name="rollServoStabilization" value="0"/> |
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95 | <parameter name="rollServoMinValue" value="32"/> |
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96 | <parameter name="rollServoMaxValue" value="224"/> |
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97 | <parameter name="rollServoFlags"> |
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98 | <bit name="reverseStabilization" value="0"/> |
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99 | <bit name="Unused" value="0"/> |
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100 | <bit name="Unused" value="0"/> |
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101 | <bit name="Unused" value="0"/> |
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102 | <bit name="Unused" value="0"/> |
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103 | <bit name="Unused" value="0"/> |
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104 | <bit name="Unused" value="0"/> |
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105 | <bit name="Unused" value="0"/> |
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106 | </parameter> |
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107 | |||
108 | <parameter name="output0BitMask"> |
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109 | <bit name="t0" value="1"/> |
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110 | <bit name="t1" value="0"/> |
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111 | <bit name="t2" value="0"/> |
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112 | <bit name="t3" value="0"/> |
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113 | <bit name="t4" value="0"/> |
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114 | <bit name="t5" value="0"/> |
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115 | <bit name="t6" value="0"/> |
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116 | <bit name="t7" value="0"/> |
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117 | </parameter> |
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118 | <parameter name="output0Timing" value="15"/> |
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119 | <parameter name="output1BitMask"> |
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120 | <bit name="t0" value="1"/> |
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121 | <bit name="t1" value="0"/> |
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122 | <bit name="t2" value="0"/> |
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123 | <bit name="t3" value="0"/> |
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124 | <bit name="t4" value="0"/> |
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125 | <bit name="t5" value="0"/> |
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126 | <bit name="t6" value="0"/> |
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127 | <bit name="t7" value="0"/> |
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128 | </parameter> |
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129 | <parameter name="output1Timing" value="14"/> |
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130 | <parameter name="outputDebugMask"> |
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131 | <bit name="DEBUG_MAINLOOP_TIMER" value="0"/> |
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132 | <bit name="DEBUG_HEIGHT_DIFF" value="1"/> |
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133 | <bit name="DEBUG_HOVERTHROTTLE" value="0"/> |
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134 | <bit name="DEBUG_ACC0THORDER" value="0"/> |
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135 | <bit name="DEBUG_SIGNAL" value="0"/> |
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136 | <bit name="DEBUG_PRESSURERANGE" value="0"/> |
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137 | <bit name="DEBUG_CLIP" value="0"/> |
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138 | <bit name="DEBUG_SENSORLIMIT" value="0"/> |
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139 | </parameter> |
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140 | <parameter name="outputFlags"> |
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141 | <bit name="INVERT_OUTPUT0" value="0"/> |
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142 | <bit name="INVERT_OUTPUT1" value="0"/> |
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143 | <bit name="FLASH_OUTPUT0_BEEPING" value="0"/> |
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144 | <bit name="FLASH_OUTPUT1_BEEPING" value="0"/> |
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145 | <bit name="USE_ONBOARD_LEDS" value="1"/> |
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146 | <bit name="TEST_OFF" value="0"/> |
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147 | <bit name="TEST_ON" value="0"/> |
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148 | <bit name="UNUSED" value="0"/> |
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149 | </parameter> |
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150 | <parameter name="userparam0" value="0"/> |
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151 | <parameter name="userparam1" value="0"/> |
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152 | <parameter name="userparam2" value="0"/> |
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153 | <parameter name="userparam3" value="0"/> |
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154 | <parameter name="userparam4" value="0"/> |
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155 | <parameter name="userparam5" value="0"/> |
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156 | <parameter name="userparam6" value="0"/> |
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157 | <parameter name="userparam7" value="0"/> |
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158 | </parameterset> |