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Rev | Author | Line No. | Line |
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1601 | - | 1 | <parameterset eepromVersion="4" length="73" 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 | |
1574 | - | 13 | <parameter name="levelCorrectionPitch" value="var1" /> |
14 | <parameter name="levelCorrectionRoll" value="var2" /> |
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1559 | - | 15 | |
1590 | - | 16 | <parameter name="gyroP" value="80" /> |
1583 | - | 17 | <parameter name="gyroI" value="60" /> |
1599 | - | 18 | <parameter name="gyroD" value="15" /> |
1573 | - | 19 | |
1572 | - | 20 | <parameter name="attitudeControl" value="0" /> |
1573 | - | 21 | |
1583 | - | 22 | <parameter name="stickP" value="10" /> |
1572 | - | 23 | <parameter name="stickD" value="2" /> |
24 | <parameter name="stickYawP" value="8" /> |
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1587 | - | 25 | <parameter name="stickThrottleD" value="4" /> |
1573 | - | 26 | |
1572 | - | 27 | <parameter name="minThrottle" value="4" /> |
1588 | - | 28 | <parameter name="maxThrottle" value="220" /> |
1573 | - | 29 | |
1572 | - | 30 | <parameter name="externalControl" value="0" /> |
31 | <parameter name="motorSmoothing" value="0" /> |
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32 | <parameter name="dynamicStability" value="50" /> |
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1573 | - | 33 | |
1576 | - | 34 | <parameter name="IFactor" value="0" /> |
35 | <parameter name="yawIFactor" value="50" /> |
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1573 | - | 36 | |
1574 | - | 37 | <parameter name="compassMode" value="0" /> |
1588 | - | 38 | <parameter name="compassYawCorrection" value="20" /> |
1574 | - | 39 | <parameter name="compassBendingReturnSpeed" value="16" /> |
40 | <parameter name="compassP" value="50" /> |
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1573 | - | 41 | |
1572 | - | 42 | <parameter name="batteryVoltageWarning" value="100" /> |
43 | <parameter name="emergencyThrottle" value="40" /> |
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44 | <parameter name="emergencyFlightDuration" value="30" /> |
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45 | |||
46 | <parameter name="airpressureFilterConstant" value="8" /> |
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47 | <parameter name="airpressureWindowLength" value="0" /> |
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1599 | - | 48 | <parameter name="airpressureDWindowLength" value="24" /> |
1601 | - | 49 | <parameter name="airpressureAccZCorrection" value="0" /> <!-- 184 for my 2.0 board. --> |
1590 | - | 50 | <parameter name="heightP" value="110" /> |
51 | <parameter name="heightI" value="90" /> |
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1588 | - | 52 | <parameter name="heightD" value="25" /> <!-- 30 --> |
1577 | - | 53 | <parameter name="heightSetting" value="var0" /> |
1588 | - | 54 | <parameter name="heightControlMaxIntegralIn" value="125" /> |
55 | <parameter name="heightControlMaxIntegralOut" value="75" /> |
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56 | <parameter name="heightMaxThrottleChange" value="75" /> |
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1572 | - | 57 | |
1599 | - | 58 | <parameter name="heightControlTestOscPeriod" value="0" /> |
1588 | - | 59 | <parameter name="heightControlTestOscAmplitude" value="0" /> |
1585 | - | 60 | |
1572 | - | 61 | <parameter name="servoCount" value="7" /> |
62 | <parameter name="servoManualMaxSpeed" value="10" /> |
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63 | <parameter name="pitchServoControl" value="128" /> |
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1584 | - | 64 | <parameter name="pitchServoStabilization" value="200" /> |
1572 | - | 65 | <parameter name="pitchServoMinValue" value="32" /> |
66 | <parameter name="pitchServoMaxValue" value="224" /> |
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67 | <parameter name="pitchServoFlags"> |
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68 | <bit name="reverseStabilization" value="0" /> |
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69 | <bit name="Unused" value="0" /> |
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70 | <bit name="Unused" value="0" /> |
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71 | <bit name="Unused" value="0" /> |
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72 | <bit name="Unused" value="0" /> |
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73 | <bit name="Unused" value="0" /> |
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74 | <bit name="Unused" value="0" /> |
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75 | <bit name="Unused" value="0" /> |
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76 | </parameter> |
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77 | <parameter name="rollServoControl" value="128" /> |
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1584 | - | 78 | <parameter name="rollServoStabilization" value="200" /> |
1572 | - | 79 | <parameter name="rollServoMinValue" value="32" /> |
80 | <parameter name="rollServoMaxValue" value="224" /> |
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81 | <parameter name="rollServoFlags"> |
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82 | <bit name="reverseStabilization" value="0" /> |
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83 | <bit name="Unused" value="0" /> |
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84 | <bit name="Unused" 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 | </parameter> |
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91 | |||
92 | <parameter name="output0BitMask"> |
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93 | <bit name="t0" value="1" /> |
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94 | <bit name="t1" value="0" /> |
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95 | <bit name="t2" value="0" /> |
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96 | <bit name="t3" value="0" /> |
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97 | <bit name="t4" value="0" /> |
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98 | <bit name="t5" value="0" /> |
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99 | <bit name="t6" value="0" /> |
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100 | <bit name="t7" value="0" /> |
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101 | </parameter> |
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102 | <parameter name="output0Timing" value="15" /> |
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103 | <parameter name="output1BitMask"> |
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104 | <bit name="t0" value="1" /> |
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105 | <bit name="t1" value="0" /> |
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106 | <bit name="t2" value="0" /> |
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107 | <bit name="t3" value="0" /> |
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108 | <bit name="t4" value="0" /> |
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109 | <bit name="t5" value="0" /> |
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110 | <bit name="t6" value="0" /> |
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111 | <bit name="t7" value="0" /> |
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112 | </parameter> |
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113 | <parameter name="output1Timing" value="14" /> |
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114 | <parameter name="outputDebugMask"> |
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1583 | - | 115 | <bit name="DEBUG_MAINLOOP_TIMER" value="0" /> |
1598 | - | 116 | <bit name="DEBUG_HEIGHT_DIFF" value="0" /> |
1572 | - | 117 | <bit name="DEBUG_HOVERTHROTTLE" value="0" /> |
1598 | - | 118 | <bit name="DEBUG_ACC0THORDER" value="1" /> |
1577 | - | 119 | <bit name="DEBUG_COMPASS" value="0" /> |
1572 | - | 120 | <bit name="DEBUG_PRESSURERANGE" value="0" /> |
121 | <bit name="DEBUG_CLIP" value="0" /> |
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122 | <bit name="DEBUG_SENSORLIMIT" value="0" /> |
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123 | </parameter> |
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124 | <parameter name="outputFlags"> |
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125 | <bit name="INVERT_OUTPUT0" value="0" /> |
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126 | <bit name="INVERT_OUTPUT1" value="0" /> |
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1573 | - | 127 | <bit name="FLASH_OUTPUT0_BEEPING" value="1" /> |
128 | <bit name="FLASH_OUTPUT1_BEEPING" value="1" /> |
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1572 | - | 129 | <bit name="USE_ONBOARD_LEDS" value="1" /> |
130 | <bit name="TEST_OFF" value="0" /> |
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131 | <bit name="TEST_ON" value="0" /> |
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132 | <bit name="UNUSED" value="0" /> |
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133 | </parameter> |
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134 | |||
1583 | - | 135 | <parameter name="naviMode" value="var0" /> |
1588 | - | 136 | <parameter name="naviStickThreshold" value="50" /> |
1599 | - | 137 | <parameter name="naviStickLimit" value="80" /> |
1572 | - | 138 | <parameter name="GPSMinimumSatellites" value="6" /> |
1588 | - | 139 | <parameter name="naviP" value="30" /> |
1599 | - | 140 | <parameter name="naviI" value="120" /> |
141 | <parameter name="naviD" value="65" /> |
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1572 | - | 142 | |
1599 | - | 143 | <parameter name="naviTestOscPeriod" value="30" /> |
144 | <parameter name=" naviTestOscAmplitude" value="30" /> |
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1592 | - | 145 | |
1572 | - | 146 | <parameter name="userparam0" value="0" /> |
147 | <parameter name="userparam1" value="0" /> |
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148 | <parameter name="userparam2" value="0" /> |
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149 | <parameter name="userparam3" value="0" /> |
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150 | <parameter name="userparam4" value="0" /> |
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151 | <parameter name="userparam5" value="0" /> |
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152 | <parameter name="userparam6" value="0" /> |
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153 | <parameter name="userparam7" value="0" /> |
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1559 | - | 154 | </parameterset> |