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1 | <parametertemplate eepromVersion="4" length="79"> |
1 | <parametertemplate eepromVersion="4" length="79"> |
2 | <section name="config" title="Configuration"> |
2 | <section name="config" title="Configuration"> |
3 | <parameter name="bitConfig" type="bitset"> |
3 | <parameter name="bitConfig" type="bitset"> |
4 | <bit name="CFG_SIMPLE_HEIGHT_CONTROL" /> |
4 | <bit name="CFG_SIMPLE_HEIGHT_CONTROL" /> |
5 | <bit name="CFG_SIMPLE_HC_HOLD_SWITCH" /> |
5 | <bit name="CFG_SIMPLE_HC_HOLD_SWITCH" /> |
6 | <bit name="CFG_UNUSED" /> |
6 | <bit name="CFG_UNUSED" /> |
7 | <bit name="CFG_COMPASS_ACTIVE" /> |
7 | <bit name="CFG_COMPASS_ACTIVE" /> |
8 | <bit name="CFG_UNUSED2" /> |
8 | <bit name="CFG_UNUSED2" /> |
9 | <bit name="CFG_GPS_ACTIVE" /> |
9 | <bit name="CFG_GPS_ACTIVE" /> |
10 | <bit name="CFG_UNUSED3" /> |
10 | <bit name="CFG_UNUSED3" /> |
11 | <bit name="CFG_GYRO_SATURATION_PREVENTION" /> |
11 | <bit name="CFG_GYRO_SATURATION_PREVENTION" /> |
12 | </parameter> |
12 | </parameter> |
13 | <parameter name="flightMode" type="dynamic" /> |
13 | <parameter name="flightMode" type="dynamic" /> |
14 | </section> |
14 | </section> |
15 | 15 | ||
16 | <section name="control" title="Control"> |
16 | <section name="control" title="Control"> |
17 | <parameter name="levelCorrectionPitch" staticCodeName="levelCorrection[0]" dynamicCodeName="levelCorrection[0]" type="dynamic"/> |
17 | <parameter name="levelCorrectionPitch" staticCodeName="levelCorrection[0]" dynamicCodeName="levelCorrection[0]" type="dynamic"/> |
18 | <parameter name="levelCorrectionRoll" staticCodeName="levelCorrection[1]" dynamicCodeName="levelCorrection[1]" type="dynamic"/> |
18 | <parameter name="levelCorrectionRoll" staticCodeName="levelCorrection[1]" dynamicCodeName="levelCorrection[1]" type="dynamic"/> |
19 | 19 | ||
20 | <parameter name="attGyroP" section="control" type="dynamic" /> |
20 | <parameter name="attGyroP" section="control" type="dynamic" /> |
21 | <parameter name="attGyroI" section="control" type="dynamic" /> |
21 | <parameter name="attGyroI" section="control" type="dynamic" /> |
22 | <parameter name="attGyroIMax" section="control" type="static" /> |
22 | <parameter name="attGyroIMax" section="control" type="static" /> |
23 | <parameter name="attGyroD" section="control" type="dynamic" /> |
23 | <parameter name="attGyroD" section="control" type="dynamic" /> |
24 | 24 | ||
25 | <parameter name="rateGyroP" section="control" type="dynamic" /> |
25 | <parameter name="rateGyroP" section="control" type="dynamic" /> |
26 | <parameter name="rateGyroI" section="control" type="dynamic" /> |
26 | <parameter name="rateGyroI" section="control" type="dynamic" /> |
27 | <parameter name="rateGyroIMax" section="control" type="static" /> |
27 | <parameter name="rateGyroIMax" section="control" type="static" /> |
28 | <parameter name="rateGyroD" section="control" type="dynamic" /> |
28 | <parameter name="rateGyroD" section="control" type="dynamic" /> |
29 | 29 | ||
30 | <parameter name="yawGyroP" section="control" type="dynamic" /> |
30 | <parameter name="yawGyroP" section="control" type="dynamic" /> |
31 | <parameter name="yawGyroI" section="control" type="dynamic" /> |
31 | <parameter name="yawGyroI" section="control" type="dynamic" /> |
32 | <parameter name="yawGyroD" section="control" type="dynamic" /> |
32 | <parameter name="yawGyroD" section="control" type="dynamic" /> |
33 | 33 | ||
34 | <parameter name="externalControl" type="dynamic"/> |
34 | <parameter name="externalControl" type="dynamic"/> |
35 | <parameter name="attitudeControl" type="dynamic"/> |
35 | <parameter name="attitudeControl" type="dynamic"/> |
36 | <parameter name="motorSmoothing" /> |
36 | <parameter name="dynamicStability" /> |
37 | 37 | ||
38 | <parameter name="stickP" /> |
38 | <parameter name="stickP" /> |
39 | <parameter name="stickD" /> |
39 | <parameter name="stickD" /> |
40 | <parameter name="stickYawP" /> |
40 | <parameter name="stickYawP" /> |
41 | <parameter name="stickThrottleD" /> |
41 | <parameter name="stickThrottleD" /> |
42 | 42 | ||
43 | <parameter name="minThrottle" /> |
43 | <parameter name="minThrottle" /> |
44 | <parameter name="maxThrottle" /> |
44 | <parameter name="maxThrottle" /> |
45 | 45 | ||
46 | <parameter name="compassMode" type="dynamic" /> |
46 | <parameter name="compassMode" type="dynamic" /> |
47 | <parameter name="compassYawCorrection" /> |
47 | <parameter name="compassYawCorrection" /> |
48 | <parameter name="compassBendingReturnSpeed" /> |
48 | <parameter name="compassBendingReturnSpeed" /> |
49 | <parameter name="compassP" /> |
49 | <parameter name="compassP" /> |
50 | 50 | ||
51 | <parameter name="batteryVoltageWarning" /> |
51 | <parameter name="batteryVoltageWarning" /> |
52 | <parameter name="emergencyThrottle" /> |
52 | <parameter name="emergencyThrottle" /> |
53 | <parameter name="emergencyFlightDuration" /> |
53 | <parameter name="emergencyFlightDuration" /> |
54 | </section> |
54 | </section> |
55 | 55 | ||
56 | <section name="heightcontrol" title="Height Control"> |
56 | <section name="heightcontrol" title="Height Control"> |
57 | <parameter name="airpressureFilterConstant" /> |
57 | <parameter name="airpressureFilterConstant" /> |
58 | <parameter name="airpressureWindowLength" /> |
58 | <parameter name="airpressureWindowLength" /> |
59 | <parameter name="airpressureDWindowLength" /> |
59 | <parameter name="airpressureDWindowLength" /> |
60 | <parameter name="airpressureAccZCorrection" /> |
60 | <parameter name="airpressureAccZCorrection" /> |
61 | <parameter name="heightP" type="dynamic"/> |
61 | <parameter name="heightP" type="dynamic"/> |
62 | <parameter name="heightI" type="dynamic"/> |
62 | <parameter name="heightI" type="dynamic"/> |
63 | <parameter name="heightD" type="dynamic"/> |
63 | <parameter name="heightD" type="dynamic"/> |
64 | <parameter name="heightSetting" type="dynamic"/> |
64 | <parameter name="heightSetting" type="dynamic"/> |
65 | <parameter name="heightControlMaxIntegralIn" /> |
65 | <parameter name="heightControlMaxIntegralIn" /> |
66 | <parameter name="heightControlMaxIntegralOut" /> |
66 | <parameter name="heightControlMaxIntegralOut" /> |
67 | <parameter name="heightMaxThrottleChange" /> |
67 | <parameter name="heightMaxThrottleChange" /> |
68 | <parameter name="heightControlTestOscPeriod" /> |
68 | <parameter name="heightControlTestOscPeriod" /> |
69 | <parameter name="heightControlTestOscAmplitude" /> |
69 | <parameter name="heightControlTestOscAmplitude" /> |
70 | </section> |
70 | </section> |
71 | 71 | ||
72 | <section name="servos"> |
72 | <section name="servos"> |
73 | <parameter name="servoCount" /> |
73 | <parameter name="servoCount" /> |
74 | <parameter name="servoManualMaxSpeed" /> |
74 | <parameter name="servoManualMaxSpeed" /> |
75 | <parameter name="pitchServoControl" staticCodeName="servoConfigurations[0].manualControl" dynamicCodeName="servoManualControl[0]" type="dynamic"/> |
75 | <parameter name="pitchServoControl" staticCodeName="servoConfigurations[0].manualControl" dynamicCodeName="servoManualControl[0]" type="dynamic"/> |
76 | <parameter name="pitchServoStabilization" /> |
76 | <parameter name="pitchServoStabilization" /> |
77 | <parameter name="pitchServoMinValue" /> |
77 | <parameter name="pitchServoMinValue" /> |
78 | <parameter name="pitchServoMaxValue" /> |
78 | <parameter name="pitchServoMaxValue" /> |
79 | <parameter name="pitchServoFlags" type="bitset"> |
79 | <parameter name="pitchServoFlags" type="bitset"> |
80 | <bit name="reverseStabilization" /> |
80 | <bit name="reverseStabilization" /> |
81 | <bit name="Unused" /> |
81 | <bit name="Unused" /> |
82 | <bit name="Unused" /> |
82 | <bit name="Unused" /> |
83 | <bit name="Unused" /> |
83 | <bit name="Unused" /> |
84 | <bit name="Unused" /> |
84 | <bit name="Unused" /> |
85 | <bit name="Unused" /> |
85 | <bit name="Unused" /> |
86 | <bit name="Unused" /> |
86 | <bit name="Unused" /> |
87 | <bit name="Unused" /> |
87 | <bit name="Unused" /> |
88 | </parameter> |
88 | </parameter> |
89 | <parameter name="rollServoControl" staticCodeName="servoConfigurations[1].manualControl" dynamicCodeName="servoManualControl[1]" type="dynamic"/> |
89 | <parameter name="rollServoControl" staticCodeName="servoConfigurations[1].manualControl" dynamicCodeName="servoManualControl[1]" type="dynamic"/> |
90 | <parameter name="rollServoStabilization" /> |
90 | <parameter name="rollServoStabilization" /> |
91 | <parameter name="rollServoMinValue" /> |
91 | <parameter name="rollServoMinValue" /> |
92 | <parameter name="rollServoMaxValue" /> |
92 | <parameter name="rollServoMaxValue" /> |
93 | <parameter name="rollServoFlags" type="bitset"> |
93 | <parameter name="rollServoFlags" type="bitset"> |
94 | <bit name="reverseStabilization" /> |
94 | <bit name="reverseStabilization" /> |
95 | <bit name="Unused" /> |
95 | <bit name="Unused" /> |
96 | <bit name="Unused" /> |
96 | <bit name="Unused" /> |
97 | <bit name="Unused" /> |
97 | <bit name="Unused" /> |
98 | <bit name="Unused" /> |
98 | <bit name="Unused" /> |
99 | <bit name="Unused" /> |
99 | <bit name="Unused" /> |
100 | <bit name="Unused" /> |
100 | <bit name="Unused" /> |
101 | <bit name="Unused" /> |
101 | <bit name="Unused" /> |
102 | </parameter> |
102 | </parameter> |
103 | </section> |
103 | </section> |
104 | 104 | ||
105 | <section name="output"> |
105 | <section name="output"> |
106 | <parameter name="output0BitMask" type="bitset"> |
106 | <parameter name="output0BitMask" type="bitset"> |
107 | <bit name="t0" /> |
107 | <bit name="t0" /> |
108 | <bit name="t1" /> |
108 | <bit name="t1" /> |
109 | <bit name="t2" /> |
109 | <bit name="t2" /> |
110 | <bit name="t3" /> |
110 | <bit name="t3" /> |
111 | <bit name="t4" /> |
111 | <bit name="t4" /> |
112 | <bit name="t5" /> |
112 | <bit name="t5" /> |
113 | <bit name="t6" /> |
113 | <bit name="t6" /> |
114 | <bit name="t7" /> |
114 | <bit name="t7" /> |
115 | </parameter> |
115 | </parameter> |
116 | <parameter name="output0Timing" staticCodeName="outputFlash[0].timing" dynamicCodeName="output0Timing" type="dynamic"/> |
116 | <parameter name="output0Timing" staticCodeName="outputFlash[0].timing" dynamicCodeName="output0Timing" type="dynamic"/> |
117 | <parameter name="output1BitMask" type="bitset"> |
117 | <parameter name="output1BitMask" type="bitset"> |
118 | <bit name="t0" /> |
118 | <bit name="t0" /> |
119 | <bit name="t1" /> |
119 | <bit name="t1" /> |
120 | <bit name="t2" /> |
120 | <bit name="t2" /> |
121 | <bit name="t3" /> |
121 | <bit name="t3" /> |
122 | <bit name="t4" /> |
122 | <bit name="t4" /> |
123 | <bit name="t5" /> |
123 | <bit name="t5" /> |
124 | <bit name="t6" /> |
124 | <bit name="t6" /> |
125 | <bit name="t7" /> |
125 | <bit name="t7" /> |
126 | </parameter> |
126 | </parameter> |
127 | <parameter name="output1Timing" staticCodeName="outputFlash[1].timing" dynamicCodeName="output1Timing" type="dynamic"/> |
127 | <parameter name="output1Timing" staticCodeName="outputFlash[1].timing" dynamicCodeName="output1Timing" type="dynamic"/> |
128 | <parameter name="outputDebugMask" type="bitset"> |
128 | <parameter name="outputDebugMask" type="bitset"> |
129 | <bit name="DEBUG_MAINLOOP_TIMER" /> |
129 | <bit name="DEBUG_MAINLOOP_TIMER" /> |
130 | <bit name="DEBUG_HEIGHT_DIFF" /> |
130 | <bit name="DEBUG_HEIGHT_DIFF" /> |
131 | <bit name="DEBUG_HOVERTHROTTLE" /> |
131 | <bit name="DEBUG_HOVERTHROTTLE" /> |
132 | <bit name="DEBUG_ACC0THORDER" /> |
132 | <bit name="DEBUG_ACC0THORDER" /> |
133 | <bit name="DEBUG_SIGNAL" /> |
133 | <bit name="DEBUG_SIGNAL" /> |
134 | <bit name="DEBUG_PRESSURERANGE" /> |
134 | <bit name="DEBUG_PRESSURERANGE" /> |
135 | <bit name="DEBUG_CLIP" /> |
135 | <bit name="DEBUG_CLIP" /> |
136 | <bit name="DEBUG_SENSORLIMIT" /> |
136 | <bit name="DEBUG_SENSORLIMIT" /> |
137 | </parameter> |
137 | </parameter> |
138 | 138 | ||
139 | <parameter name="outputFlags" type="bitset"> |
139 | <parameter name="outputFlags" type="bitset"> |
140 | <bit name="INVERT_OUTPUT0" /> |
140 | <bit name="INVERT_OUTPUT0" /> |
141 | <bit name="INVERT_OUTPUT1" /> |
141 | <bit name="INVERT_OUTPUT1" /> |
142 | <bit name="FLASH_OUTPUT0_BEEPING" /> |
142 | <bit name="FLASH_OUTPUT0_BEEPING" /> |
143 | <bit name="FLASH_OUTPUT1_BEEPING" /> |
143 | <bit name="FLASH_OUTPUT1_BEEPING" /> |
144 | <bit name="USE_ONBOARD_LEDS" /> |
144 | <bit name="USE_ONBOARD_LEDS" /> |
145 | <bit name="TEST_OFF" /> |
145 | <bit name="TEST_OFF" /> |
146 | <bit name="TEST_ON" /> |
146 | <bit name="TEST_ON" /> |
147 | <bit name="UNUSED" /> |
147 | <bit name="UNUSED" /> |
148 | </parameter> |
148 | </parameter> |
149 | </section> |
149 | </section> |
150 | 150 | ||
151 | <section name="navigation" title="Navigation"> |
151 | <section name="navigation" title="Navigation"> |
152 | <parameter name="naviMode" type="dynamic"/> |
152 | <parameter name="naviMode" type="dynamic"/> |
153 | <parameter name="naviStickThreshold" /> |
153 | <parameter name="naviStickThreshold" /> |
154 | <parameter name="naviStickLimit" /> |
154 | <parameter name="naviStickLimit" /> |
155 | <parameter name="GPSMinimumSatellites" /> |
155 | <parameter name="GPSMinimumSatellites" /> |
156 | <parameter name="naviP" /> |
156 | <parameter name="naviP" /> |
157 | <parameter name="naviI" /> |
157 | <parameter name="naviI" /> |
158 | <parameter name="naviD" /> |
158 | <parameter name="naviD" /> |
159 | <parameter name="naviTestOscPeriod" /> |
159 | <parameter name="naviTestOscPeriod" /> |
160 | <parameter name=" naviTestOscAmplitude" /> |
160 | <parameter name=" naviTestOscAmplitude" /> |
161 | </section> |
161 | </section> |
162 | 162 | ||
163 | <section name="userparams" title="User Parameters"> |
163 | <section name="userparams" title="User Parameters"> |
164 | <parameter name="userparam0" /> |
164 | <parameter name="userparam0" /> |
165 | <parameter name="userparam1" /> |
165 | <parameter name="userparam1" /> |
166 | <parameter name="userparam2" /> |
166 | <parameter name="userparam2" /> |
167 | <parameter name="userparam3" /> |
167 | <parameter name="userparam3" /> |
168 | <parameter name="userparam4" /> |
168 | <parameter name="userparam4" /> |
169 | <parameter name="userparam5" /> |
169 | <parameter name="userparam5" /> |
170 | <parameter name="userparam6" /> |
170 | <parameter name="userparam6" /> |
171 | <parameter name="userparam7" /> |
171 | <parameter name="userparam7" /> |
172 | </section> |
172 | </section> |
173 | </parametertemplate> |
173 | </parametertemplate> |