| 2,10 → 2,10 |
|---|
| <parameter name="bitConfig"> |
| <bit name="CFG_SIMPLE_HEIGHT_CONTROL" value="1" /> |
| <bit name="CFG_SIMPLE_HC_HOLD_SWITCH" value="1" /> |
| <bit name="CFG_HEADING_HOLD" value="1" /> |
| <bit name="CFG_HEADING_HOLD" value="0" /> |
| <bit name="CFG_COMPASS_ENABLED" value="1" /> |
| <bit name="CFG_UNUSED" value="0" /> |
| <bit name="CFG_GPS_ENABLED" value="1" /> |
| <bit name="CFG_NAVI_ENABLED" value="1" /> |
| <bit name="CFG_AXIS_COUPLING_ENABLED" value="0" /> |
| <bit name="CFG_GYRO_SATURATION_PREVENTION" value="1" /> |
| </parameter> |
| 29,10 → 29,10 |
|---|
| <parameter name="accFilterConstant" value="15" /> |
| |
| <parameter name="zerothOrderCorrection" value="10" /> |
| <parameter name="zerothOrderCorrectionAccTolerance" value="60" /> |
| <parameter name="zerothOrderCorrectionControlTolerance" value="60" /> |
| <parameter name="zerothOrderCorrectionAccTolerance" value="15" /> |
| <parameter name="zerothOrderCorrectionControlTolerance" value="30" /> |
| <parameter name="maxControlActivity" value="0" /> |
| <parameter name="maxAccVector" value="80" /> |
| <parameter name="maxAccVector" value="0" /> |
| |
| <parameter name="driftCompDivider" value="2" /> |
| <parameter name="driftCompLimit" value="0" /> |
| 40,13 → 40,13 |
|---|
| <parameter name="levelCorrectionPitch" value="var1" /> |
| <parameter name="levelCorrectionRoll" value="var2" /> |
| |
| <parameter name="gyroP" value="100" /> |
| <parameter name="gyroI" value="80" /> |
| <parameter name="gyroP" value="60" /> |
| <parameter name="gyroI" value="60" /> |
| <parameter name="gyroD" value="40" /> |
| |
| <parameter name="attitudeControl" value="0" /> |
| |
| <parameter name="stickP" value="8" /> |
| <parameter name="stickP" value="10" /> |
| <parameter name="stickD" value="2" /> |
| <parameter name="stickYawP" value="8" /> |
| <parameter name="stickThrottleD" value="8" /> |
| 73,8 → 73,8 |
|---|
| <parameter name="airpressureFilterConstant" value="8" /> |
| <parameter name="airpressureWindowLength" value="0" /> |
| <parameter name="airpressureAccZCorrection" value="184" /> |
| <parameter name="heightP" value="40" /> |
| <parameter name="heightI" value="20" /> |
| <parameter name="heightP" value="80" /> |
| <parameter name="heightI" value="40" /> |
| <parameter name="heightD" value="40" /> |
| <parameter name="heightSetting" value="var0" /> |
| <parameter name="heightControlMaxIntegral" value="20" /> |
| 135,10 → 135,10 |
|---|
| </parameter> |
| <parameter name="output1Timing" value="14" /> |
| <parameter name="outputDebugMask"> |
| <bit name="DEBUG_MAINLOOP_TIMER" value="1" /> |
| <bit name="DEBUG_MAINLOOP_TIMER" value="0" /> |
| <bit name="DEBUG_HEIGHT_DIFF" value="0" /> |
| <bit name="DEBUG_HOVERTHROTTLE" value="0" /> |
| <bit name="DEBUG_ACC0THORDER" value="0" /> |
| <bit name="DEBUG_ACC0THORDER" value="1" /> |
| <bit name="DEBUG_COMPASS" value="0" /> |
| <bit name="DEBUG_PRESSURERANGE" value="0" /> |
| <bit name="DEBUG_CLIP" value="0" /> |
| 155,11 → 155,11 |
|---|
| <bit name="UNUSED" value="0" /> |
| </parameter> |
| |
| <parameter name="naviMode" value="0" /> |
| <parameter name="naviMode" value="var0" /> |
| <parameter name="naviStickThreshold" value="5" /> |
| <parameter name="naviStickLimit" value="50" /> |
| <parameter name="GPSMinimumSatellites" value="6" /> |
| <parameter name="naviP" value="50" /> |
| <parameter name="naviP" value="40" /> |
| <parameter name="naviI" value="1" /> |
| <parameter name="naviD" value="0" /> |
| |