0,0 → 1,178 |
<parameterset eepromVersion="3" length="84" name="hundeprut"> |
<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="0" /> |
<bit name="CFG_COMPASS_ENABLED" value="1" /> |
<bit name="CFG_UNUSED" value="0" /> |
<bit name="CFG_NAVI_ENABLED" value="1" /> |
<bit name="CFG_AXIS_COUPLING_ENABLED" value="0" /> |
<bit name="CFG_GYRO_SATURATION_PREVENTION" value="1" /> |
</parameter> |
|
<parameter name="gyroQuadrant" value="0" /> |
<parameter name="accQuadrant" value="4" /> |
<parameter name="imuReversedFlags"> |
<bit name="IMU_REVERSE_GYRO_PR" value="0" /> |
<bit name="IMU_REVERSE_GYRO_YAW" value="0" /> |
<bit name="IMU_REVERSE_ACC_XY" value="1" /> |
<bit name="IMU_REVERSE_ACC_Z" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
</parameter> |
|
<parameter name="gyroPIDFilterConstant" value="1" /> |
<parameter name="gyroDFilterConstant" value="1" /> |
<parameter name="accFilterConstant" value="15" /> |
|
<parameter name="zerothOrderCorrection" value="10" /> |
<parameter name="rateTolerance" value="100" /> |
<parameter name="yawRateFactor" value="64" /> |
|
<parameter name="driftCompDivider" value="2" /> |
<parameter name="driftCompLimit" value="0" /> |
|
<parameter name="levelCorrectionPitch" value="var1" /> |
<parameter name="levelCorrectionRoll" value="var2" /> |
|
<parameter name="gyroP" value="80" /> |
<parameter name="gyroI" value="60" /> |
<parameter name="gyroD" value="15" /> |
|
<parameter name="attitudeControl" value="0" /> |
|
<parameter name="stickP" value="10" /> |
<parameter name="stickD" value="2" /> |
<parameter name="stickYawP" value="8" /> |
<parameter name="stickThrottleD" value="4" /> |
|
<parameter name="minThrottle" value="4" /> |
<parameter name="maxThrottle" value="220" /> |
|
<parameter name="externalControl" value="0" /> |
<parameter name="motorSmoothing" value="0" /> |
<parameter name="dynamicStability" value="50" /> |
|
<parameter name="IFactor" value="0" /> |
<parameter name="yawIFactor" value="50" /> |
|
<parameter name="compassMode" value="0" /> |
<parameter name="compassYawCorrection" value="20" /> |
<parameter name="compassBendingReturnSpeed" value="16" /> |
<parameter name="compassP" value="50" /> |
|
<parameter name="batteryVoltageWarning" value="100" /> |
<parameter name="emergencyThrottle" value="40" /> |
<parameter name="emergencyFlightDuration" value="30" /> |
|
<parameter name="airpressureFilterConstant" value="8" /> |
<parameter name="airpressureWindowLength" value="0" /> |
<parameter name="airpressureDWindowLength" value="24" /> |
<parameter name="airpressureAccZCorrection" value="184" /> |
<parameter name="heightP" value="110" /> |
<parameter name="heightI" value="90" /> |
<parameter name="heightD" value="25" /> <!-- 30 --> |
<parameter name="heightSetting" value="var0" /> |
<parameter name="heightControlMaxIntegralIn" value="125" /> |
<parameter name="heightControlMaxIntegralOut" value="75" /> |
<parameter name="heightMaxThrottleChange" value="75" /> |
|
<parameter name="heightControlTestOscPeriod" value="0" /> |
<parameter name="heightControlTestOscAmplitude" value="0" /> |
|
<parameter name="servoCount" value="7" /> |
<parameter name="servoManualMaxSpeed" value="10" /> |
<parameter name="pitchServoControl" value="128" /> |
<parameter name="pitchServoStabilization" value="200" /> |
<parameter name="pitchServoMinValue" value="32" /> |
<parameter name="pitchServoMaxValue" value="224" /> |
<parameter name="pitchServoFlags"> |
<bit name="reverseStabilization" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
</parameter> |
<parameter name="rollServoControl" value="128" /> |
<parameter name="rollServoStabilization" value="200" /> |
<parameter name="rollServoMinValue" value="32" /> |
<parameter name="rollServoMaxValue" value="224" /> |
<parameter name="rollServoFlags"> |
<bit name="reverseStabilization" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
</parameter> |
|
<parameter name="output0BitMask"> |
<bit name="t0" value="1" /> |
<bit name="t1" value="0" /> |
<bit name="t2" value="0" /> |
<bit name="t3" value="0" /> |
<bit name="t4" value="0" /> |
<bit name="t5" value="0" /> |
<bit name="t6" value="0" /> |
<bit name="t7" value="0" /> |
</parameter> |
<parameter name="output0Timing" value="15" /> |
<parameter name="output1BitMask"> |
<bit name="t0" value="1" /> |
<bit name="t1" value="0" /> |
<bit name="t2" value="0" /> |
<bit name="t3" value="0" /> |
<bit name="t4" value="0" /> |
<bit name="t5" value="0" /> |
<bit name="t6" value="0" /> |
<bit name="t7" value="0" /> |
</parameter> |
<parameter name="output1Timing" value="14" /> |
<parameter name="outputDebugMask"> |
<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="1" /> |
<bit name="DEBUG_COMPASS" value="0" /> |
<bit name="DEBUG_PRESSURERANGE" value="0" /> |
<bit name="DEBUG_CLIP" value="0" /> |
<bit name="DEBUG_SENSORLIMIT" value="0" /> |
</parameter> |
<parameter name="outputFlags"> |
<bit name="INVERT_OUTPUT0" value="0" /> |
<bit name="INVERT_OUTPUT1" value="0" /> |
<bit name="FLASH_OUTPUT0_BEEPING" value="1" /> |
<bit name="FLASH_OUTPUT1_BEEPING" value="1" /> |
<bit name="USE_ONBOARD_LEDS" value="1" /> |
<bit name="TEST_OFF" value="0" /> |
<bit name="TEST_ON" value="0" /> |
<bit name="UNUSED" value="0" /> |
</parameter> |
|
<parameter name="naviMode" value="var0" /> |
<parameter name="naviStickThreshold" value="50" /> |
<parameter name="naviStickLimit" value="80" /> |
<parameter name="GPSMinimumSatellites" value="6" /> |
<parameter name="naviP" value="30" /> |
<parameter name="naviI" value="120" /> |
<parameter name="naviD" value="65" /> |
|
<parameter name="naviTestOscPeriod" value="30" /> |
<parameter name=" naviTestOscAmplitude" value="30" /> |
|
<parameter name="userparam0" value="0" /> |
<parameter name="userparam1" value="0" /> |
<parameter name="userparam2" value="0" /> |
<parameter name="userparam3" value="0" /> |
<parameter name="userparam4" value="0" /> |
<parameter name="userparam5" value="0" /> |
<parameter name="userparam6" value="0" /> |
<parameter name="userparam7" value="0" /> |
</parameterset> |