Rev 1577 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
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1574 | - | 1 | <parameterset eepromVersion="3" length="80" 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" /> |
1578 | - | 5 | <bit name="CFG_HEADING_HOLD" value="1" /> |
1576 | - | 6 | <bit name="CFG_COMPASS_ENABLED" value="1" /> |
7 | <bit name="CFG_UNUSED" value="0" /> |
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8 | <bit name="CFG_GPS_ENABLED" value="1" /> |
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9 | <bit name="CFG_AXIS_COUPLING_ENABLED" value="0" /> |
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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" /> |
32 | <parameter name="zerothOrderCorrectionAccTolerance" value="60" /> |
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33 | <parameter name="zerothOrderCorrectionControlTolerance" value="60" /> |
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34 | |||
1572 | - | 35 | <parameter name="driftCompDivider" value="2" /> |
36 | <parameter name="driftCompLimit" value="0" /> |
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1559 | - | 37 | |
1574 | - | 38 | <parameter name="levelCorrectionPitch" value="var1" /> |
39 | <parameter name="levelCorrectionRoll" value="var2" /> |
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1559 | - | 40 | |
1576 | - | 41 | <parameter name="gyroP" value="100" /> |
1577 | - | 42 | <parameter name="gyroI" value="80" /> |
1572 | - | 43 | <parameter name="gyroD" value="40" /> |
1573 | - | 44 | |
1572 | - | 45 | <parameter name="attitudeControl" value="0" /> |
1573 | - | 46 | |
1572 | - | 47 | <parameter name="stickP" value="8" /> |
48 | <parameter name="stickD" value="2" /> |
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49 | <parameter name="stickYawP" value="8" /> |
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50 | <parameter name="stickThrottleD" value="8" /> |
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1573 | - | 51 | |
1572 | - | 52 | <parameter name="minThrottle" value="4" /> |
53 | <parameter name="maxThrottle" value="230" /> |
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1573 | - | 54 | |
1572 | - | 55 | <parameter name="externalControl" value="0" /> |
56 | <parameter name="motorSmoothing" value="0" /> |
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57 | <parameter name="dynamicStability" value="50" /> |
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1573 | - | 58 | |
1576 | - | 59 | <parameter name="IFactor" value="0" /> |
60 | <parameter name="yawIFactor" value="50" /> |
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1573 | - | 61 | |
1574 | - | 62 | <parameter name="compassMode" value="0" /> |
1573 | - | 63 | <parameter name="compassYawCorrection" value="1" /> |
1574 | - | 64 | <parameter name="compassBendingReturnSpeed" value="16" /> |
65 | <parameter name="compassP" value="50" /> |
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1573 | - | 66 | |
1572 | - | 67 | <parameter name="batteryVoltageWarning" value="100" /> |
68 | <parameter name="emergencyThrottle" value="40" /> |
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69 | <parameter name="emergencyFlightDuration" value="30" /> |
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70 | |||
71 | <parameter name="airpressureFilterConstant" value="8" /> |
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72 | <parameter name="airpressureWindowLength" value="0" /> |
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73 | <parameter name="airpressureAccZCorrection" value="184" /> |
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1577 | - | 74 | <parameter name="heightP" value="40" /> |
75 | <parameter name="heightI" value="20" /> |
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76 | <parameter name="heightD" value="40" /> |
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77 | <parameter name="heightSetting" value="var0" /> |
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78 | <parameter name="heightControlMaxIntegral" value="20" /> |
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79 | <parameter name="heightMaxThrottleChange" value="40" /> |
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1572 | - | 80 | <parameter name="heightSlewRate" value="200" /> |
81 | |||
82 | <parameter name="servoCount" value="7" /> |
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83 | <parameter name="servoManualMaxSpeed" value="10" /> |
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84 | <parameter name="pitchServoControl" value="128" /> |
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85 | <parameter name="pitchServoStabilization" value="0" /> |
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86 | <parameter name="pitchServoMinValue" value="32" /> |
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87 | <parameter name="pitchServoMaxValue" value="224" /> |
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88 | <parameter name="pitchServoFlags"> |
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89 | <bit name="reverseStabilization" 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 | <bit name="Unused" value="0" /> |
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93 | <bit name="Unused" value="0" /> |
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94 | <bit name="Unused" value="0" /> |
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95 | <bit name="Unused" value="0" /> |
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96 | <bit name="Unused" value="0" /> |
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97 | </parameter> |
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98 | <parameter name="rollServoControl" value="128" /> |
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99 | <parameter name="rollServoStabilization" value="0" /> |
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100 | <parameter name="rollServoMinValue" value="32" /> |
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101 | <parameter name="rollServoMaxValue" value="224" /> |
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102 | <parameter name="rollServoFlags"> |
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103 | <bit name="reverseStabilization" 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 | <bit name="Unused" value="0" /> |
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107 | <bit name="Unused" value="0" /> |
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108 | <bit name="Unused" value="0" /> |
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109 | <bit name="Unused" value="0" /> |
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110 | <bit name="Unused" value="0" /> |
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111 | </parameter> |
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112 | |||
113 | <parameter name="output0BitMask"> |
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114 | <bit name="t0" value="1" /> |
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115 | <bit name="t1" value="0" /> |
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116 | <bit name="t2" value="0" /> |
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117 | <bit name="t3" value="0" /> |
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118 | <bit name="t4" value="0" /> |
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119 | <bit name="t5" value="0" /> |
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120 | <bit name="t6" value="0" /> |
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121 | <bit name="t7" value="0" /> |
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122 | </parameter> |
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123 | <parameter name="output0Timing" value="15" /> |
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124 | <parameter name="output1BitMask"> |
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125 | <bit name="t0" value="1" /> |
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126 | <bit name="t1" value="0" /> |
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127 | <bit name="t2" value="0" /> |
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128 | <bit name="t3" value="0" /> |
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129 | <bit name="t4" value="0" /> |
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130 | <bit name="t5" value="0" /> |
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131 | <bit name="t6" value="0" /> |
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132 | <bit name="t7" value="0" /> |
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133 | </parameter> |
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134 | <parameter name="output1Timing" value="14" /> |
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135 | <parameter name="outputDebugMask"> |
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1578 | - | 136 | <bit name="DEBUG_MAINLOOP_TIMER" value="1" /> |
1573 | - | 137 | <bit name="DEBUG_HEIGHT_DIFF" value="0" /> |
1572 | - | 138 | <bit name="DEBUG_HOVERTHROTTLE" value="0" /> |
1578 | - | 139 | <bit name="DEBUG_ACC0THORDER" value="0" /> |
1577 | - | 140 | <bit name="DEBUG_COMPASS" value="0" /> |
1572 | - | 141 | <bit name="DEBUG_PRESSURERANGE" value="0" /> |
142 | <bit name="DEBUG_CLIP" value="0" /> |
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143 | <bit name="DEBUG_SENSORLIMIT" value="0" /> |
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144 | </parameter> |
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145 | <parameter name="outputFlags"> |
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146 | <bit name="INVERT_OUTPUT0" value="0" /> |
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147 | <bit name="INVERT_OUTPUT1" value="0" /> |
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1573 | - | 148 | <bit name="FLASH_OUTPUT0_BEEPING" value="1" /> |
149 | <bit name="FLASH_OUTPUT1_BEEPING" value="1" /> |
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1572 | - | 150 | <bit name="USE_ONBOARD_LEDS" value="1" /> |
151 | <bit name="TEST_OFF" value="0" /> |
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152 | <bit name="TEST_ON" value="0" /> |
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153 | <bit name="UNUSED" value="0" /> |
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154 | </parameter> |
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155 | |||
1576 | - | 156 | <parameter name="naviMode" value="var0" /> |
1578 | - | 157 | <parameter name="naviStickThreshold" value="5" /> |
1573 | - | 158 | <parameter name="naviStickLimit" value="50" /> |
1572 | - | 159 | <parameter name="GPSMinimumSatellites" value="6" /> |
160 | <parameter name="naviP" value="50" /> |
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1578 | - | 161 | <parameter name="naviI" value="1" /> |
162 | <parameter name="naviD" value="0" /> |
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1572 | - | 163 | |
164 | <parameter name="userparam0" value="0" /> |
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165 | <parameter name="userparam1" value="0" /> |
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166 | <parameter name="userparam2" value="0" /> |
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167 | <parameter name="userparam3" value="0" /> |
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168 | <parameter name="userparam4" value="0" /> |
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169 | <parameter name="userparam5" value="0" /> |
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170 | <parameter name="userparam6" value="0" /> |
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171 | <parameter name="userparam7" value="0" /> |
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1559 | - | 172 | </parameterset> |