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Rev | Author | Line No. | Line |
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1592 | - | 1 | <parameterset eepromVersion="3" length="87" name="hundeprut"> |
1572 | - | 2 | <parameter name="bitConfig"> |
1576 | - | 3 | <bit name="CFG_SIMPLE_HEIGHT_CONTROL" value="1" /> |
1577 | - | 4 | <bit name="CFG_SIMPLE_HC_HOLD_SWITCH" value="1" /> |
1583 | - | 5 | <bit name="CFG_HEADING_HOLD" value="0" /> |
1576 | - | 6 | <bit name="CFG_COMPASS_ENABLED" value="1" /> |
7 | <bit name="CFG_UNUSED" value="0" /> |
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1583 | - | 8 | <bit name="CFG_NAVI_ENABLED" value="1" /> |
1576 | - | 9 | <bit name="CFG_AXIS_COUPLING_ENABLED" value="0" /> |
1572 | - | 10 | <bit name="CFG_GYRO_SATURATION_PREVENTION" value="1" /> |
11 | </parameter> |
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1559 | - | 12 | |
1572 | - | 13 | <parameter name="gyroQuadrant" value="0" /> |
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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1559 | - | 25 | |
1572 | - | 26 | <parameter name="gyroPIDFilterConstant" value="1" /> |
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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1559 | - | 30 | |
1578 | - | 31 | <parameter name="zerothOrderCorrection" value="10" /> |
1592 | - | 32 | <parameter name="zerothOrderCorrectionAccTolerance" value="40" /> |
33 | <parameter name="zerothOrderCorrectionControlTolerance" value="40" /> |
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1582 | - | 34 | <parameter name="maxControlActivity" value="0" /> |
1583 | - | 35 | <parameter name="maxAccVector" value="0" /> |
1578 | - | 36 | |
1572 | - | 37 | <parameter name="driftCompDivider" value="2" /> |
38 | <parameter name="driftCompLimit" value="0" /> |
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1559 | - | 39 | |
1574 | - | 40 | <parameter name="levelCorrectionPitch" value="var1" /> |
41 | <parameter name="levelCorrectionRoll" value="var2" /> |
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1559 | - | 42 | |
1590 | - | 43 | <parameter name="gyroP" value="80" /> |
1583 | - | 44 | <parameter name="gyroI" value="60" /> |
1572 | - | 45 | <parameter name="gyroD" value="40" /> |
1573 | - | 46 | |
1572 | - | 47 | <parameter name="attitudeControl" value="0" /> |
1573 | - | 48 | |
1583 | - | 49 | <parameter name="stickP" value="10" /> |
1572 | - | 50 | <parameter name="stickD" value="2" /> |
51 | <parameter name="stickYawP" value="8" /> |
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1587 | - | 52 | <parameter name="stickThrottleD" value="4" /> |
1573 | - | 53 | |
1572 | - | 54 | <parameter name="minThrottle" value="4" /> |
1588 | - | 55 | <parameter name="maxThrottle" value="220" /> |
1573 | - | 56 | |
1572 | - | 57 | <parameter name="externalControl" value="0" /> |
58 | <parameter name="motorSmoothing" value="0" /> |
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59 | <parameter name="dynamicStability" value="50" /> |
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1573 | - | 60 | |
1576 | - | 61 | <parameter name="IFactor" value="0" /> |
62 | <parameter name="yawIFactor" value="50" /> |
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1573 | - | 63 | |
1574 | - | 64 | <parameter name="compassMode" value="0" /> |
1588 | - | 65 | <parameter name="compassYawCorrection" value="20" /> |
1574 | - | 66 | <parameter name="compassBendingReturnSpeed" value="16" /> |
67 | <parameter name="compassP" value="50" /> |
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1573 | - | 68 | |
1572 | - | 69 | <parameter name="batteryVoltageWarning" value="100" /> |
70 | <parameter name="emergencyThrottle" value="40" /> |
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71 | <parameter name="emergencyFlightDuration" value="30" /> |
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72 | |||
73 | <parameter name="airpressureFilterConstant" value="8" /> |
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74 | <parameter name="airpressureWindowLength" value="0" /> |
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1588 | - | 75 | <parameter name="airpressureDWindowLength" value="32" /> |
1572 | - | 76 | <parameter name="airpressureAccZCorrection" value="184" /> |
1590 | - | 77 | <parameter name="heightP" value="110" /> |
78 | <parameter name="heightI" value="90" /> |
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1588 | - | 79 | <parameter name="heightD" value="25" /> <!-- 30 --> |
1577 | - | 80 | <parameter name="heightSetting" value="var0" /> |
1588 | - | 81 | <parameter name="heightControlMaxIntegralIn" value="125" /> |
82 | <parameter name="heightControlMaxIntegralOut" value="75" /> |
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83 | <parameter name="heightMaxThrottleChange" value="75" /> |
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1572 | - | 84 | |
1586 | - | 85 | <parameter name="heightControlTestOscPeriod" value="30" /> |
1588 | - | 86 | <parameter name="heightControlTestOscAmplitude" value="0" /> |
1585 | - | 87 | |
1572 | - | 88 | <parameter name="servoCount" value="7" /> |
89 | <parameter name="servoManualMaxSpeed" value="10" /> |
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90 | <parameter name="pitchServoControl" value="128" /> |
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1584 | - | 91 | <parameter name="pitchServoStabilization" value="200" /> |
1572 | - | 92 | <parameter name="pitchServoMinValue" value="32" /> |
93 | <parameter name="pitchServoMaxValue" value="224" /> |
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94 | <parameter name="pitchServoFlags"> |
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95 | <bit name="reverseStabilization" value="0" /> |
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96 | <bit name="Unused" value="0" /> |
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97 | <bit name="Unused" value="0" /> |
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98 | <bit name="Unused" 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 | </parameter> |
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104 | <parameter name="rollServoControl" value="128" /> |
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1584 | - | 105 | <parameter name="rollServoStabilization" value="200" /> |
1572 | - | 106 | <parameter name="rollServoMinValue" value="32" /> |
107 | <parameter name="rollServoMaxValue" value="224" /> |
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108 | <parameter name="rollServoFlags"> |
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109 | <bit name="reverseStabilization" value="0" /> |
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110 | <bit name="Unused" value="0" /> |
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111 | <bit name="Unused" value="0" /> |
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112 | <bit name="Unused" value="0" /> |
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113 | <bit name="Unused" value="0" /> |
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114 | <bit name="Unused" value="0" /> |
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115 | <bit name="Unused" value="0" /> |
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116 | <bit name="Unused" value="0" /> |
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117 | </parameter> |
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118 | |||
119 | <parameter name="output0BitMask"> |
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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="output0Timing" value="15" /> |
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130 | <parameter name="output1BitMask"> |
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131 | <bit name="t0" value="1" /> |
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132 | <bit name="t1" value="0" /> |
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133 | <bit name="t2" value="0" /> |
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134 | <bit name="t3" value="0" /> |
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135 | <bit name="t4" value="0" /> |
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136 | <bit name="t5" value="0" /> |
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137 | <bit name="t6" value="0" /> |
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138 | <bit name="t7" value="0" /> |
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139 | </parameter> |
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140 | <parameter name="output1Timing" value="14" /> |
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141 | <parameter name="outputDebugMask"> |
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1583 | - | 142 | <bit name="DEBUG_MAINLOOP_TIMER" value="0" /> |
1584 | - | 143 | <bit name="DEBUG_HEIGHT_DIFF" value="1" /> |
1572 | - | 144 | <bit name="DEBUG_HOVERTHROTTLE" value="0" /> |
1584 | - | 145 | <bit name="DEBUG_ACC0THORDER" value="0" /> |
1577 | - | 146 | <bit name="DEBUG_COMPASS" value="0" /> |
1572 | - | 147 | <bit name="DEBUG_PRESSURERANGE" value="0" /> |
148 | <bit name="DEBUG_CLIP" value="0" /> |
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149 | <bit name="DEBUG_SENSORLIMIT" value="0" /> |
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150 | </parameter> |
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151 | <parameter name="outputFlags"> |
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152 | <bit name="INVERT_OUTPUT0" value="0" /> |
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153 | <bit name="INVERT_OUTPUT1" value="0" /> |
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1573 | - | 154 | <bit name="FLASH_OUTPUT0_BEEPING" value="1" /> |
155 | <bit name="FLASH_OUTPUT1_BEEPING" value="1" /> |
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1572 | - | 156 | <bit name="USE_ONBOARD_LEDS" value="1" /> |
157 | <bit name="TEST_OFF" value="0" /> |
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158 | <bit name="TEST_ON" value="0" /> |
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159 | <bit name="UNUSED" value="0" /> |
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160 | </parameter> |
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161 | |||
1583 | - | 162 | <parameter name="naviMode" value="var0" /> |
1588 | - | 163 | <parameter name="naviStickThreshold" value="50" /> |
1590 | - | 164 | <parameter name="naviStickLimit" value="25" /> |
1572 | - | 165 | <parameter name="GPSMinimumSatellites" value="6" /> |
1588 | - | 166 | <parameter name="naviP" value="30" /> |
167 | <parameter name="naviI" value="60" /> |
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1590 | - | 168 | <parameter name="naviD" value="60" /> |
1572 | - | 169 | |
1592 | - | 170 | <parameter name="naviTestOscPeriod" value="0" /> |
171 | <parameter name=" naviTestOscAmplitude" value="0" /> |
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172 | |||
1572 | - | 173 | <parameter name="userparam0" value="0" /> |
174 | <parameter name="userparam1" value="0" /> |
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175 | <parameter name="userparam2" value="0" /> |
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176 | <parameter name="userparam3" value="0" /> |
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177 | <parameter name="userparam4" value="0" /> |
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178 | <parameter name="userparam5" value="0" /> |
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179 | <parameter name="userparam6" value="0" /> |
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180 | <parameter name="userparam7" value="0" /> |
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1559 | - | 181 | </parameterset> |