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Rev 1585 | Rev 1586 | ||
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1 | <parameterset eepromVersion="3" length="85" name="hundeprut"> |
1 | <parameterset eepromVersion="3" length="85" name="hundeprut"> |
2 | <parameter name="bitConfig"> |
2 | <parameter name="bitConfig"> |
3 | <bit name="CFG_SIMPLE_HEIGHT_CONTROL" value="1" /> |
3 | <bit name="CFG_SIMPLE_HEIGHT_CONTROL" value="1" /> |
4 | <bit name="CFG_SIMPLE_HC_HOLD_SWITCH" value="1" /> |
4 | <bit name="CFG_SIMPLE_HC_HOLD_SWITCH" value="1" /> |
5 | <bit name="CFG_HEADING_HOLD" value="0" /> |
5 | <bit name="CFG_HEADING_HOLD" value="0" /> |
6 | <bit name="CFG_COMPASS_ENABLED" value="1" /> |
6 | <bit name="CFG_COMPASS_ENABLED" value="1" /> |
7 | <bit name="CFG_UNUSED" value="0" /> |
7 | <bit name="CFG_UNUSED" value="0" /> |
8 | <bit name="CFG_NAVI_ENABLED" value="1" /> |
8 | <bit name="CFG_NAVI_ENABLED" value="1" /> |
9 | <bit name="CFG_AXIS_COUPLING_ENABLED" value="0" /> |
9 | <bit name="CFG_AXIS_COUPLING_ENABLED" value="0" /> |
10 | <bit name="CFG_GYRO_SATURATION_PREVENTION" value="1" /> |
10 | <bit name="CFG_GYRO_SATURATION_PREVENTION" value="1" /> |
11 | </parameter> |
11 | </parameter> |
12 | 12 | ||
13 | <parameter name="gyroQuadrant" value="0" /> |
13 | <parameter name="gyroQuadrant" value="0" /> |
14 | <parameter name="accQuadrant" value="4" /> |
14 | <parameter name="accQuadrant" value="4" /> |
15 | <parameter name="imuReversedFlags"> |
15 | <parameter name="imuReversedFlags"> |
16 | <bit name="IMU_REVERSE_GYRO_PR" value="0" /> |
16 | <bit name="IMU_REVERSE_GYRO_PR" value="0" /> |
17 | <bit name="IMU_REVERSE_GYRO_YAW" value="0" /> |
17 | <bit name="IMU_REVERSE_GYRO_YAW" value="0" /> |
18 | <bit name="IMU_REVERSE_ACC_XY" value="1" /> |
18 | <bit name="IMU_REVERSE_ACC_XY" value="1" /> |
19 | <bit name="IMU_REVERSE_ACC_Z" value="0" /> |
19 | <bit name="IMU_REVERSE_ACC_Z" value="0" /> |
20 | <bit name="Unused" value="0" /> |
20 | <bit name="Unused" value="0" /> |
21 | <bit name="Unused" value="0" /> |
21 | <bit name="Unused" value="0" /> |
22 | <bit name="Unused" value="0" /> |
22 | <bit name="Unused" value="0" /> |
23 | <bit name="Unused" value="0" /> |
23 | <bit name="Unused" value="0" /> |
24 | </parameter> |
24 | </parameter> |
25 | 25 | ||
26 | <parameter name="gyroPIDFilterConstant" value="1" /> |
26 | <parameter name="gyroPIDFilterConstant" value="1" /> |
27 | <parameter name="gyroATTFilterConstant" value="1" /> |
27 | <parameter name="gyroATTFilterConstant" value="1" /> |
28 | <parameter name="gyroDFilterConstant" value="1" /> |
28 | <parameter name="gyroDFilterConstant" value="1" /> |
29 | <parameter name="accFilterConstant" value="15" /> |
29 | <parameter name="accFilterConstant" value="15" /> |
30 | 30 | ||
31 | <parameter name="zerothOrderCorrection" value="10" /> |
31 | <parameter name="zerothOrderCorrection" value="10" /> |
32 | <parameter name="zerothOrderCorrectionAccTolerance" value="50" /> |
32 | <parameter name="zerothOrderCorrectionAccTolerance" value="50" /> |
33 | <parameter name="zerothOrderCorrectionControlTolerance" value="80" /> |
33 | <parameter name="zerothOrderCorrectionControlTolerance" value="80" /> |
34 | <parameter name="maxControlActivity" value="0" /> |
34 | <parameter name="maxControlActivity" value="0" /> |
35 | <parameter name="maxAccVector" value="0" /> |
35 | <parameter name="maxAccVector" value="0" /> |
36 | 36 | ||
37 | <parameter name="driftCompDivider" value="2" /> |
37 | <parameter name="driftCompDivider" value="2" /> |
38 | <parameter name="driftCompLimit" value="0" /> |
38 | <parameter name="driftCompLimit" value="0" /> |
39 | 39 | ||
40 | <parameter name="levelCorrectionPitch" value="var1" /> |
40 | <parameter name="levelCorrectionPitch" value="var1" /> |
41 | <parameter name="levelCorrectionRoll" value="var2" /> |
41 | <parameter name="levelCorrectionRoll" value="var2" /> |
42 | 42 | ||
43 | <parameter name="gyroP" value="60" /> |
43 | <parameter name="gyroP" value="60" /> |
44 | <parameter name="gyroI" value="60" /> |
44 | <parameter name="gyroI" value="60" /> |
45 | <parameter name="gyroD" value="40" /> |
45 | <parameter name="gyroD" value="40" /> |
46 | 46 | ||
47 | <parameter name="attitudeControl" value="0" /> |
47 | <parameter name="attitudeControl" value="0" /> |
48 | 48 | ||
49 | <parameter name="stickP" value="10" /> |
49 | <parameter name="stickP" value="10" /> |
50 | <parameter name="stickD" value="2" /> |
50 | <parameter name="stickD" value="2" /> |
51 | <parameter name="stickYawP" value="8" /> |
51 | <parameter name="stickYawP" value="8" /> |
52 | <parameter name="stickThrottleD" value="8" /> |
52 | <parameter name="stickThrottleD" value="8" /> |
53 | 53 | ||
54 | <parameter name="minThrottle" value="4" /> |
54 | <parameter name="minThrottle" value="4" /> |
55 | <parameter name="maxThrottle" value="230" /> |
55 | <parameter name="maxThrottle" value="230" /> |
56 | 56 | ||
57 | <parameter name="externalControl" value="0" /> |
57 | <parameter name="externalControl" value="0" /> |
58 | <parameter name="motorSmoothing" value="0" /> |
58 | <parameter name="motorSmoothing" value="0" /> |
59 | <parameter name="dynamicStability" value="50" /> |
59 | <parameter name="dynamicStability" value="50" /> |
60 | 60 | ||
61 | <parameter name="IFactor" value="0" /> |
61 | <parameter name="IFactor" value="0" /> |
62 | <parameter name="yawIFactor" value="50" /> |
62 | <parameter name="yawIFactor" value="50" /> |
63 | 63 | ||
64 | <parameter name="compassMode" value="0" /> |
64 | <parameter name="compassMode" value="0" /> |
65 | <parameter name="compassYawCorrection" value="8" /> |
65 | <parameter name="compassYawCorrection" value="8" /> |
66 | <parameter name="compassBendingReturnSpeed" value="16" /> |
66 | <parameter name="compassBendingReturnSpeed" value="16" /> |
67 | <parameter name="compassP" value="50" /> |
67 | <parameter name="compassP" value="50" /> |
68 | 68 | ||
69 | <parameter name="batteryVoltageWarning" value="100" /> |
69 | <parameter name="batteryVoltageWarning" value="100" /> |
70 | <parameter name="emergencyThrottle" value="40" /> |
70 | <parameter name="emergencyThrottle" value="40" /> |
71 | <parameter name="emergencyFlightDuration" value="30" /> |
71 | <parameter name="emergencyFlightDuration" value="30" /> |
72 | 72 | ||
73 | <parameter name="airpressureFilterConstant" value="8" /> |
73 | <parameter name="airpressureFilterConstant" value="8" /> |
74 | <parameter name="airpressureWindowLength" value="0" /> |
74 | <parameter name="airpressureWindowLength" value="0" /> |
75 | <parameter name="airpressureDWindowLength" value="31" /> |
75 | <parameter name="airpressureDWindowLength" value="31" /> |
76 | <parameter name="airpressureAccZCorrection" value="184" /> |
76 | <parameter name="airpressureAccZCorrection" value="184" /> |
77 | <parameter name="heightP" value="60" /> |
77 | <parameter name="heightP" value="60" /> |
78 | <parameter name="heightI" value="60" /> |
78 | <parameter name="heightI" value="60" /> |
79 | <parameter name="heightD" value="15" /> |
79 | <parameter name="heightD" value="10" /> |
80 | <parameter name="heightSetting" value="var0" /> |
80 | <parameter name="heightSetting" value="var0" /> |
81 | <parameter name="heightControlMaxIntegralIn" value="200" /> |
81 | <parameter name="heightControlMaxIntegralIn" value="200" /> |
82 | <parameter name="heightControlMaxIntegralOut" value="50" /> |
82 | <parameter name="heightControlMaxIntegralOut" value="50" /> |
83 | <parameter name="heightMaxThrottleChange" value="50" /> |
83 | <parameter name="heightMaxThrottleChange" value="50" /> |
84 | 84 | ||
85 | <parameter name="heightControlTestOscPeriod" value="10" /> |
85 | <parameter name="heightControlTestOscPeriod" value="30" /> |
86 | <parameter name="heightControlTestOscAmplitude" value="0" /> |
86 | <parameter name="heightControlTestOscAmplitude" value="100" /> |
87 | 87 | ||
88 | <parameter name="servoCount" value="7" /> |
88 | <parameter name="servoCount" value="7" /> |
89 | <parameter name="servoManualMaxSpeed" value="10" /> |
89 | <parameter name="servoManualMaxSpeed" value="10" /> |
90 | <parameter name="pitchServoControl" value="128" /> |
90 | <parameter name="pitchServoControl" value="128" /> |
91 | <parameter name="pitchServoStabilization" value="200" /> |
91 | <parameter name="pitchServoStabilization" value="200" /> |
92 | <parameter name="pitchServoMinValue" value="32" /> |
92 | <parameter name="pitchServoMinValue" value="32" /> |
93 | <parameter name="pitchServoMaxValue" value="224" /> |
93 | <parameter name="pitchServoMaxValue" value="224" /> |
94 | <parameter name="pitchServoFlags"> |
94 | <parameter name="pitchServoFlags"> |
95 | <bit name="reverseStabilization" value="0" /> |
95 | <bit name="reverseStabilization" value="0" /> |
96 | <bit name="Unused" value="0" /> |
96 | <bit name="Unused" value="0" /> |
97 | <bit name="Unused" value="0" /> |
97 | <bit name="Unused" value="0" /> |
98 | <bit name="Unused" value="0" /> |
98 | <bit name="Unused" value="0" /> |
99 | <bit name="Unused" value="0" /> |
99 | <bit name="Unused" value="0" /> |
100 | <bit name="Unused" value="0" /> |
100 | <bit name="Unused" value="0" /> |
101 | <bit name="Unused" value="0" /> |
101 | <bit name="Unused" value="0" /> |
102 | <bit name="Unused" value="0" /> |
102 | <bit name="Unused" value="0" /> |
103 | </parameter> |
103 | </parameter> |
104 | <parameter name="rollServoControl" value="128" /> |
104 | <parameter name="rollServoControl" value="128" /> |
105 | <parameter name="rollServoStabilization" value="200" /> |
105 | <parameter name="rollServoStabilization" value="200" /> |
106 | <parameter name="rollServoMinValue" value="32" /> |
106 | <parameter name="rollServoMinValue" value="32" /> |
107 | <parameter name="rollServoMaxValue" value="224" /> |
107 | <parameter name="rollServoMaxValue" value="224" /> |
108 | <parameter name="rollServoFlags"> |
108 | <parameter name="rollServoFlags"> |
109 | <bit name="reverseStabilization" value="0" /> |
109 | <bit name="reverseStabilization" value="0" /> |
110 | <bit name="Unused" value="0" /> |
110 | <bit name="Unused" value="0" /> |
111 | <bit name="Unused" value="0" /> |
111 | <bit name="Unused" value="0" /> |
112 | <bit name="Unused" value="0" /> |
112 | <bit name="Unused" value="0" /> |
113 | <bit name="Unused" value="0" /> |
113 | <bit name="Unused" value="0" /> |
114 | <bit name="Unused" value="0" /> |
114 | <bit name="Unused" value="0" /> |
115 | <bit name="Unused" value="0" /> |
115 | <bit name="Unused" value="0" /> |
116 | <bit name="Unused" value="0" /> |
116 | <bit name="Unused" value="0" /> |
117 | </parameter> |
117 | </parameter> |
118 | 118 | ||
119 | <parameter name="output0BitMask"> |
119 | <parameter name="output0BitMask"> |
120 | <bit name="t0" value="1" /> |
120 | <bit name="t0" value="1" /> |
121 | <bit name="t1" value="0" /> |
121 | <bit name="t1" value="0" /> |
122 | <bit name="t2" value="0" /> |
122 | <bit name="t2" value="0" /> |
123 | <bit name="t3" value="0" /> |
123 | <bit name="t3" value="0" /> |
124 | <bit name="t4" value="0" /> |
124 | <bit name="t4" value="0" /> |
125 | <bit name="t5" value="0" /> |
125 | <bit name="t5" value="0" /> |
126 | <bit name="t6" value="0" /> |
126 | <bit name="t6" value="0" /> |
127 | <bit name="t7" value="0" /> |
127 | <bit name="t7" value="0" /> |
128 | </parameter> |
128 | </parameter> |
129 | <parameter name="output0Timing" value="15" /> |
129 | <parameter name="output0Timing" value="15" /> |
130 | <parameter name="output1BitMask"> |
130 | <parameter name="output1BitMask"> |
131 | <bit name="t0" value="1" /> |
131 | <bit name="t0" value="1" /> |
132 | <bit name="t1" value="0" /> |
132 | <bit name="t1" value="0" /> |
133 | <bit name="t2" value="0" /> |
133 | <bit name="t2" value="0" /> |
134 | <bit name="t3" value="0" /> |
134 | <bit name="t3" value="0" /> |
135 | <bit name="t4" value="0" /> |
135 | <bit name="t4" value="0" /> |
136 | <bit name="t5" value="0" /> |
136 | <bit name="t5" value="0" /> |
137 | <bit name="t6" value="0" /> |
137 | <bit name="t6" value="0" /> |
138 | <bit name="t7" value="0" /> |
138 | <bit name="t7" value="0" /> |
139 | </parameter> |
139 | </parameter> |
140 | <parameter name="output1Timing" value="14" /> |
140 | <parameter name="output1Timing" value="14" /> |
141 | <parameter name="outputDebugMask"> |
141 | <parameter name="outputDebugMask"> |
142 | <bit name="DEBUG_MAINLOOP_TIMER" value="0" /> |
142 | <bit name="DEBUG_MAINLOOP_TIMER" value="0" /> |
143 | <bit name="DEBUG_HEIGHT_DIFF" value="1" /> |
143 | <bit name="DEBUG_HEIGHT_DIFF" value="1" /> |
144 | <bit name="DEBUG_HOVERTHROTTLE" value="0" /> |
144 | <bit name="DEBUG_HOVERTHROTTLE" value="0" /> |
145 | <bit name="DEBUG_ACC0THORDER" value="0" /> |
145 | <bit name="DEBUG_ACC0THORDER" value="0" /> |
146 | <bit name="DEBUG_COMPASS" value="0" /> |
146 | <bit name="DEBUG_COMPASS" value="0" /> |
147 | <bit name="DEBUG_PRESSURERANGE" value="0" /> |
147 | <bit name="DEBUG_PRESSURERANGE" value="0" /> |
148 | <bit name="DEBUG_CLIP" value="0" /> |
148 | <bit name="DEBUG_CLIP" value="0" /> |
149 | <bit name="DEBUG_SENSORLIMIT" value="0" /> |
149 | <bit name="DEBUG_SENSORLIMIT" value="0" /> |
150 | </parameter> |
150 | </parameter> |
151 | <parameter name="outputFlags"> |
151 | <parameter name="outputFlags"> |
152 | <bit name="INVERT_OUTPUT0" value="0" /> |
152 | <bit name="INVERT_OUTPUT0" value="0" /> |
153 | <bit name="INVERT_OUTPUT1" value="0" /> |
153 | <bit name="INVERT_OUTPUT1" value="0" /> |
154 | <bit name="FLASH_OUTPUT0_BEEPING" value="1" /> |
154 | <bit name="FLASH_OUTPUT0_BEEPING" value="1" /> |
155 | <bit name="FLASH_OUTPUT1_BEEPING" value="1" /> |
155 | <bit name="FLASH_OUTPUT1_BEEPING" value="1" /> |
156 | <bit name="USE_ONBOARD_LEDS" value="1" /> |
156 | <bit name="USE_ONBOARD_LEDS" value="1" /> |
157 | <bit name="TEST_OFF" value="0" /> |
157 | <bit name="TEST_OFF" value="0" /> |
158 | <bit name="TEST_ON" value="0" /> |
158 | <bit name="TEST_ON" value="0" /> |
159 | <bit name="UNUSED" value="0" /> |
159 | <bit name="UNUSED" value="0" /> |
160 | </parameter> |
160 | </parameter> |
161 | 161 | ||
162 | <parameter name="naviMode" value="var0" /> |
162 | <parameter name="naviMode" value="var0" /> |
163 | <parameter name="naviStickThreshold" value="20" /> |
163 | <parameter name="naviStickThreshold" value="100" /> |
164 | <parameter name="naviStickLimit" value="50" /> |
164 | <parameter name="naviStickLimit" value="50" /> |
165 | <parameter name="GPSMinimumSatellites" value="6" /> |
165 | <parameter name="GPSMinimumSatellites" value="6" /> |
166 | <parameter name="naviP" value="25" /> |
166 | <parameter name="naviP" value="25" /> |
167 | <parameter name="naviI" value="5" /> |
167 | <parameter name="naviI" value="5" /> |
168 | <parameter name="naviD" value="20" /> |
168 | <parameter name="naviD" value="20" /> |
169 | 169 | ||
170 | <parameter name="userparam0" value="0" /> |
170 | <parameter name="userparam0" value="0" /> |
171 | <parameter name="userparam1" value="0" /> |
171 | <parameter name="userparam1" value="0" /> |
172 | <parameter name="userparam2" value="0" /> |
172 | <parameter name="userparam2" value="0" /> |
173 | <parameter name="userparam3" value="0" /> |
173 | <parameter name="userparam3" value="0" /> |
174 | <parameter name="userparam4" value="0" /> |
174 | <parameter name="userparam4" value="0" /> |
175 | <parameter name="userparam5" value="0" /> |
175 | <parameter name="userparam5" value="0" /> |
176 | <parameter name="userparam6" value="0" /> |
176 | <parameter name="userparam6" value="0" /> |
177 | <parameter name="userparam7" value="0" /> |
177 | <parameter name="userparam7" value="0" /> |
178 | </parameterset> |
178 | </parameterset> |
179 | 179 |