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Rev | Author | Line No. | Line |
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1578 | - | 1 | <parametertemplate eepromVersion="3" length="80"> |
1564 | - | 2 | <section name="config" title="Configuration"> |
3 | <parameter name="bitConfig" type="bitset"> |
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4 | <bit name="CFG_SIMPLE_HEIGHT_CONTROL" /> |
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5 | <bit name="CFG_SIMPLE_HC_HOLD_SWITCH" /> |
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6 | <bit name="CFG_HEADING_HOLD" /> |
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7 | <bit name="CFG_COMPASS_ACTIVE" /> |
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1573 | - | 8 | <bit name="CFG_UNUSED" /> |
1564 | - | 9 | <bit name="CFG_GPS_ACTIVE" /> |
10 | <bit name="CFG_AXIS_COUPLING_ACTIVE" /> |
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11 | <bit name="CFG_GYRO_SATURATION_PREVENTION" /> |
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12 | </parameter> |
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13 | </section> |
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14 | |||
15 | <section name="imu" title="IMU (gyros, accelerometer and compass)"> |
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16 | <parameter name="gyroQuadrant" /> |
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17 | <parameter name="accQuadrant" /> |
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18 | <parameter name="imuReversedFlags" type="bitset"> |
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19 | <bit name="IMU_REVERSE_GYRO_PR" /> |
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20 | <bit name="IMU_REVERSE_GYRO_YAW" /> |
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21 | <bit name="IMU_REVERSE_ACC_XY" /> |
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22 | <bit name="IMU_REVERSE_ACC_Z" /> |
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23 | <bit name="Unused" /> |
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24 | <bit name="Unused" /> |
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25 | <bit name="Unused" /> |
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26 | <bit name="Unused" /> |
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27 | </parameter> |
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28 | |||
29 | <parameter name="gyroPIDFilterConstant" /> |
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30 | <parameter name="gyroATTFilterConstant" /> |
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31 | <parameter name="gyroDFilterConstant" /> |
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32 | <parameter name="accFilterConstant" /> |
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33 | |||
34 | <parameter name="zerothOrderCorrection" /> |
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1578 | - | 35 | <parameter name="zerothOrderCorrectionAccTolerance" /> |
36 | <parameter name="zerothOrderCorrectionControlTolerance" /> |
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1564 | - | 37 | <parameter name="driftCompDivider" /> |
38 | <parameter name="driftCompLimit" /> |
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39 | |||
1578 | - | 40 | <parameter name="levelCorrectionPitch" staticCodeName="levelCorrection[0]" dynamicCodeName="levelCorrection[0]" type="dynamic"/> |
41 | <parameter name="levelCorrectionRoll" staticCodeName="levelCorrection[1]" dynamicCodeName="levelCorrection[1]" type="dynamic"/> |
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1564 | - | 42 | </section> |
43 | |||
44 | <section name="control" title="Control"> |
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45 | <parameter name="gyroP" section="control" type="dynamic" /> |
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46 | <parameter name="gyroI" section="control" type="dynamic" /> |
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47 | <parameter name="gyroD" section="control" type="dynamic" /> |
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48 | |||
49 | <parameter name="attitudeControl" type="dynamic"/> |
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50 | |||
51 | <parameter name="stickP" /> |
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52 | <parameter name="stickD" /> |
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53 | <parameter name="stickYawP" /> |
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54 | <parameter name="stickThrottleD" /> |
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55 | |||
56 | <parameter name="minThrottle" /> |
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57 | <parameter name="maxThrottle" /> |
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58 | |||
59 | <parameter name="externalControl" type="dynamic"/> |
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60 | <parameter name="motorSmoothing" /> |
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61 | |||
62 | <parameter name="dynamicStability" type="dynamic" /> |
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63 | <parameter name="IFactor" /> |
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64 | <parameter name="yawIFactor" /> |
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1573 | - | 65 | |
1578 | - | 66 | <parameter name="compassMode" type="dynamic" /> |
1573 | - | 67 | <parameter name="compassYawCorrection" /> |
1578 | - | 68 | <parameter name="compassBendingReturnSpeed" /> |
69 | <parameter name="compassP" /> |
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1573 | - | 70 | |
1564 | - | 71 | <parameter name="batteryVoltageWarning" /> |
72 | <parameter name="emergencyThrottle" /> |
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73 | <parameter name="emergencyFlightDuration" /> |
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74 | </section> |
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75 | |||
76 | <section name="heightcontrol" title="Height Control"> |
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77 | <parameter name="airpressureFilterConstant" /> |
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78 | <parameter name="airpressureWindowLength" /> |
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79 | <parameter name="airpressureAccZCorrection" /> |
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80 | <parameter name="heightP" type="dynamic"/> |
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81 | <parameter name="heightI" type="dynamic"/> |
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82 | <parameter name="heightD" type="dynamic"/> |
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83 | <parameter name="heightSetting" type="dynamic"/> |
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84 | <parameter name="heightControlMaxIntegral" /> |
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85 | <parameter name="heightMaxThrottleChange" /> |
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86 | <parameter name="heightSlewRate" /> |
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87 | </section> |
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88 | |||
89 | <section name="servos"> |
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90 | <parameter name="servoCount" /> |
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91 | <parameter name="servoManualMaxSpeed" /> |
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1578 | - | 92 | <parameter name="pitchServoControl" staticCodeName="servoConfigurations[0].manualControl" dynamicCodeName="servoManualControl[0]" type="dynamic"/> |
1564 | - | 93 | <parameter name="pitchServoStabilization" /> |
94 | <parameter name="pitchServoMinValue" /> |
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95 | <parameter name="pitchServoMaxValue" /> |
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96 | <parameter name="pitchServoFlags" type="bitset"> |
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97 | <bit name="reverseStabilization" /> |
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98 | <bit name="Unused" /> |
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99 | <bit name="Unused" /> |
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100 | <bit name="Unused" /> |
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101 | <bit name="Unused" /> |
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102 | <bit name="Unused" /> |
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103 | <bit name="Unused" /> |
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104 | <bit name="Unused" /> |
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105 | </parameter> |
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1578 | - | 106 | <parameter name="rollServoControl" staticCodeName="servoConfigurations[1].manualControl" dynamicCodeName="servoManualControl[1]" type="dynamic"/> |
1564 | - | 107 | <parameter name="rollServoStabilization" /> |
108 | <parameter name="rollServoMinValue" /> |
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109 | <parameter name="rollServoMaxValue" /> |
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110 | <parameter name="rollServoFlags" type="bitset"> |
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111 | <bit name="reverseStabilization" /> |
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112 | <bit name="Unused" /> |
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113 | <bit name="Unused" /> |
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114 | <bit name="Unused" /> |
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115 | <bit name="Unused" /> |
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116 | <bit name="Unused" /> |
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117 | <bit name="Unused" /> |
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118 | <bit name="Unused" /> |
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119 | </parameter> |
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120 | </section> |
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121 | |||
122 | <section name="output"> |
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123 | <parameter name="output0BitMask" type="bitset"> |
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124 | <bit name="t0" /> |
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125 | <bit name="t1" /> |
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126 | <bit name="t2" /> |
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127 | <bit name="t3" /> |
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128 | <bit name="t4" /> |
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129 | <bit name="t5" /> |
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130 | <bit name="t6" /> |
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131 | <bit name="t7" /> |
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132 | </parameter> |
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1578 | - | 133 | <parameter name="output0Timing" staticCodeName="outputFlash[0].timing" dynamicCodeName="output0Timing" type="dynamic"/> |
1564 | - | 134 | <parameter name="output1BitMask" type="bitset"> |
135 | <bit name="t0" /> |
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136 | <bit name="t1" /> |
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137 | <bit name="t2" /> |
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138 | <bit name="t3" /> |
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139 | <bit name="t4" /> |
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140 | <bit name="t5" /> |
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141 | <bit name="t6" /> |
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142 | <bit name="t7" /> |
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143 | </parameter> |
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1578 | - | 144 | <parameter name="output1Timing" staticCodeName="outputFlash[1].timing" dynamicCodeName="output1Timing" type="dynamic"/> |
1564 | - | 145 | <parameter name="outputDebugMask" type="bitset"> |
146 | <bit name="DEBUG_MAINLOOP_TIMER" /> |
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147 | <bit name="DEBUG_HEIGHT_DIFF" /> |
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148 | <bit name="DEBUG_HOVERTHROTTLE" /> |
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149 | <bit name="DEBUG_ACC0THORDER" /> |
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150 | <bit name="DEBUG_SIGNAL" /> |
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151 | <bit name="DEBUG_PRESSURERANGE" /> |
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152 | <bit name="DEBUG_CLIP" /> |
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153 | <bit name="DEBUG_SENSORLIMIT" /> |
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154 | </parameter> |
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155 | |||
156 | <parameter name="outputFlags" type="bitset"> |
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157 | <bit name="INVERT_OUTPUT0" /> |
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158 | <bit name="INVERT_OUTPUT1" /> |
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159 | <bit name="FLASH_OUTPUT0_BEEPING" /> |
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160 | <bit name="FLASH_OUTPUT1_BEEPING" /> |
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161 | <bit name="USE_ONBOARD_LEDS" /> |
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162 | <bit name="TEST_OFF" /> |
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163 | <bit name="TEST_ON" /> |
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164 | <bit name="UNUSED" /> |
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165 | </parameter> |
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166 | </section> |
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167 | |||
1572 | - | 168 | <section name="navigation" title="Navigation"> |
169 | <parameter name="naviMode" type="dynamic"/> |
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170 | <parameter name="naviStickThreshold" /> |
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1573 | - | 171 | <parameter name="naviStickLimit" /> |
1572 | - | 172 | <parameter name="GPSMinimumSatellites" /> |
173 | <parameter name="naviP" /> |
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174 | <parameter name="naviI" /> |
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175 | <parameter name="naviD" /> |
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176 | </section> |
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177 | |||
1564 | - | 178 | <section name="userparams" title="User Parameters"> |
179 | <parameter name="userparam0" /> |
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180 | <parameter name="userparam1" /> |
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181 | <parameter name="userparam2" /> |
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182 | <parameter name="userparam3" /> |
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183 | <parameter name="userparam4" /> |
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184 | <parameter name="userparam5" /> |
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185 | <parameter name="userparam6" /> |
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186 | <parameter name="userparam7" /> |
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187 | </section> |
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188 | </parametertemplate> |