Rev 1578 | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1578 | Rev 1582 | ||
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1 | <parametertemplate eepromVersion="3" length="80"> |
1 | <parametertemplate eepromVersion="3" length="82"> |
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_HEADING_HOLD" /> |
6 | <bit name="CFG_HEADING_HOLD" /> |
7 | <bit name="CFG_COMPASS_ACTIVE" /> |
7 | <bit name="CFG_COMPASS_ACTIVE" /> |
8 | <bit name="CFG_UNUSED" /> |
8 | <bit name="CFG_UNUSED" /> |
9 | <bit name="CFG_GPS_ACTIVE" /> |
9 | <bit name="CFG_GPS_ACTIVE" /> |
10 | <bit name="CFG_AXIS_COUPLING_ACTIVE" /> |
10 | <bit name="CFG_AXIS_COUPLING_ACTIVE" /> |
11 | <bit name="CFG_GYRO_SATURATION_PREVENTION" /> |
11 | <bit name="CFG_GYRO_SATURATION_PREVENTION" /> |
12 | </parameter> |
12 | </parameter> |
13 | </section> |
13 | </section> |
14 | 14 | ||
15 | <section name="imu" title="IMU (gyros, accelerometer and compass)"> |
15 | <section name="imu" title="IMU (gyros, accelerometer and compass)"> |
16 | <parameter name="gyroQuadrant" /> |
16 | <parameter name="gyroQuadrant" /> |
17 | <parameter name="accQuadrant" /> |
17 | <parameter name="accQuadrant" /> |
18 | <parameter name="imuReversedFlags" type="bitset"> |
18 | <parameter name="imuReversedFlags" type="bitset"> |
19 | <bit name="IMU_REVERSE_GYRO_PR" /> |
19 | <bit name="IMU_REVERSE_GYRO_PR" /> |
20 | <bit name="IMU_REVERSE_GYRO_YAW" /> |
20 | <bit name="IMU_REVERSE_GYRO_YAW" /> |
21 | <bit name="IMU_REVERSE_ACC_XY" /> |
21 | <bit name="IMU_REVERSE_ACC_XY" /> |
22 | <bit name="IMU_REVERSE_ACC_Z" /> |
22 | <bit name="IMU_REVERSE_ACC_Z" /> |
23 | <bit name="Unused" /> |
23 | <bit name="Unused" /> |
24 | <bit name="Unused" /> |
24 | <bit name="Unused" /> |
25 | <bit name="Unused" /> |
25 | <bit name="Unused" /> |
26 | <bit name="Unused" /> |
26 | <bit name="Unused" /> |
27 | </parameter> |
27 | </parameter> |
28 | 28 | ||
29 | <parameter name="gyroPIDFilterConstant" /> |
29 | <parameter name="gyroPIDFilterConstant" /> |
30 | <parameter name="gyroATTFilterConstant" /> |
30 | <parameter name="gyroATTFilterConstant" /> |
31 | <parameter name="gyroDFilterConstant" /> |
31 | <parameter name="gyroDFilterConstant" /> |
32 | <parameter name="accFilterConstant" /> |
32 | <parameter name="accFilterConstant" /> |
33 | 33 | ||
34 | <parameter name="zerothOrderCorrection" /> |
34 | <parameter name="zerothOrderCorrection" /> |
35 | <parameter name="zerothOrderCorrectionAccTolerance" /> |
35 | <parameter name="zerothOrderCorrectionAccTolerance" /> |
36 | <parameter name="zerothOrderCorrectionControlTolerance" /> |
36 | <parameter name="zerothOrderCorrectionControlTolerance" /> |
- | 37 | <parameter name="maxControlActivity" /> |
|
- | 38 | <parameter name="maxAccVector" /> |
|
37 | <parameter name="driftCompDivider" /> |
39 | <parameter name="driftCompDivider" /> |
38 | <parameter name="driftCompLimit" /> |
40 | <parameter name="driftCompLimit" /> |
39 | 41 | ||
40 | <parameter name="levelCorrectionPitch" staticCodeName="levelCorrection[0]" dynamicCodeName="levelCorrection[0]" type="dynamic"/> |
42 | <parameter name="levelCorrectionPitch" staticCodeName="levelCorrection[0]" dynamicCodeName="levelCorrection[0]" type="dynamic"/> |
41 | <parameter name="levelCorrectionRoll" staticCodeName="levelCorrection[1]" dynamicCodeName="levelCorrection[1]" type="dynamic"/> |
43 | <parameter name="levelCorrectionRoll" staticCodeName="levelCorrection[1]" dynamicCodeName="levelCorrection[1]" type="dynamic"/> |
42 | </section> |
44 | </section> |
43 | 45 | ||
44 | <section name="control" title="Control"> |
46 | <section name="control" title="Control"> |
45 | <parameter name="gyroP" section="control" type="dynamic" /> |
47 | <parameter name="gyroP" section="control" type="dynamic" /> |
46 | <parameter name="gyroI" section="control" type="dynamic" /> |
48 | <parameter name="gyroI" section="control" type="dynamic" /> |
47 | <parameter name="gyroD" section="control" type="dynamic" /> |
49 | <parameter name="gyroD" section="control" type="dynamic" /> |
48 | 50 | ||
49 | <parameter name="attitudeControl" type="dynamic"/> |
51 | <parameter name="attitudeControl" type="dynamic"/> |
50 | 52 | ||
51 | <parameter name="stickP" /> |
53 | <parameter name="stickP" /> |
52 | <parameter name="stickD" /> |
54 | <parameter name="stickD" /> |
53 | <parameter name="stickYawP" /> |
55 | <parameter name="stickYawP" /> |
54 | <parameter name="stickThrottleD" /> |
56 | <parameter name="stickThrottleD" /> |
55 | 57 | ||
56 | <parameter name="minThrottle" /> |
58 | <parameter name="minThrottle" /> |
57 | <parameter name="maxThrottle" /> |
59 | <parameter name="maxThrottle" /> |
58 | 60 | ||
59 | <parameter name="externalControl" type="dynamic"/> |
61 | <parameter name="externalControl" type="dynamic"/> |
60 | <parameter name="motorSmoothing" /> |
62 | <parameter name="motorSmoothing" /> |
61 | 63 | ||
62 | <parameter name="dynamicStability" type="dynamic" /> |
64 | <parameter name="dynamicStability" type="dynamic" /> |
63 | <parameter name="IFactor" /> |
65 | <parameter name="IFactor" /> |
64 | <parameter name="yawIFactor" /> |
66 | <parameter name="yawIFactor" /> |
65 | 67 | ||
66 | <parameter name="compassMode" type="dynamic" /> |
68 | <parameter name="compassMode" type="dynamic" /> |
67 | <parameter name="compassYawCorrection" /> |
69 | <parameter name="compassYawCorrection" /> |
68 | <parameter name="compassBendingReturnSpeed" /> |
70 | <parameter name="compassBendingReturnSpeed" /> |
69 | <parameter name="compassP" /> |
71 | <parameter name="compassP" /> |
70 | 72 | ||
71 | <parameter name="batteryVoltageWarning" /> |
73 | <parameter name="batteryVoltageWarning" /> |
72 | <parameter name="emergencyThrottle" /> |
74 | <parameter name="emergencyThrottle" /> |
73 | <parameter name="emergencyFlightDuration" /> |
75 | <parameter name="emergencyFlightDuration" /> |
74 | </section> |
76 | </section> |
75 | 77 | ||
76 | <section name="heightcontrol" title="Height Control"> |
78 | <section name="heightcontrol" title="Height Control"> |
77 | <parameter name="airpressureFilterConstant" /> |
79 | <parameter name="airpressureFilterConstant" /> |
78 | <parameter name="airpressureWindowLength" /> |
80 | <parameter name="airpressureWindowLength" /> |
79 | <parameter name="airpressureAccZCorrection" /> |
81 | <parameter name="airpressureAccZCorrection" /> |
80 | <parameter name="heightP" type="dynamic"/> |
82 | <parameter name="heightP" type="dynamic"/> |
81 | <parameter name="heightI" type="dynamic"/> |
83 | <parameter name="heightI" type="dynamic"/> |
82 | <parameter name="heightD" type="dynamic"/> |
84 | <parameter name="heightD" type="dynamic"/> |
83 | <parameter name="heightSetting" type="dynamic"/> |
85 | <parameter name="heightSetting" type="dynamic"/> |
84 | <parameter name="heightControlMaxIntegral" /> |
86 | <parameter name="heightControlMaxIntegral" /> |
85 | <parameter name="heightMaxThrottleChange" /> |
87 | <parameter name="heightMaxThrottleChange" /> |
86 | <parameter name="heightSlewRate" /> |
88 | <parameter name="heightSlewRate" /> |
87 | </section> |
89 | </section> |
88 | 90 | ||
89 | <section name="servos"> |
91 | <section name="servos"> |
90 | <parameter name="servoCount" /> |
92 | <parameter name="servoCount" /> |
91 | <parameter name="servoManualMaxSpeed" /> |
93 | <parameter name="servoManualMaxSpeed" /> |
92 | <parameter name="pitchServoControl" staticCodeName="servoConfigurations[0].manualControl" dynamicCodeName="servoManualControl[0]" type="dynamic"/> |
94 | <parameter name="pitchServoControl" staticCodeName="servoConfigurations[0].manualControl" dynamicCodeName="servoManualControl[0]" type="dynamic"/> |
93 | <parameter name="pitchServoStabilization" /> |
95 | <parameter name="pitchServoStabilization" /> |
94 | <parameter name="pitchServoMinValue" /> |
96 | <parameter name="pitchServoMinValue" /> |
95 | <parameter name="pitchServoMaxValue" /> |
97 | <parameter name="pitchServoMaxValue" /> |
96 | <parameter name="pitchServoFlags" type="bitset"> |
98 | <parameter name="pitchServoFlags" type="bitset"> |
97 | <bit name="reverseStabilization" /> |
99 | <bit name="reverseStabilization" /> |
98 | <bit name="Unused" /> |
100 | <bit name="Unused" /> |
99 | <bit name="Unused" /> |
101 | <bit name="Unused" /> |
100 | <bit name="Unused" /> |
102 | <bit name="Unused" /> |
101 | <bit name="Unused" /> |
103 | <bit name="Unused" /> |
102 | <bit name="Unused" /> |
104 | <bit name="Unused" /> |
103 | <bit name="Unused" /> |
105 | <bit name="Unused" /> |
104 | <bit name="Unused" /> |
106 | <bit name="Unused" /> |
105 | </parameter> |
107 | </parameter> |
106 | <parameter name="rollServoControl" staticCodeName="servoConfigurations[1].manualControl" dynamicCodeName="servoManualControl[1]" type="dynamic"/> |
108 | <parameter name="rollServoControl" staticCodeName="servoConfigurations[1].manualControl" dynamicCodeName="servoManualControl[1]" type="dynamic"/> |
107 | <parameter name="rollServoStabilization" /> |
109 | <parameter name="rollServoStabilization" /> |
108 | <parameter name="rollServoMinValue" /> |
110 | <parameter name="rollServoMinValue" /> |
109 | <parameter name="rollServoMaxValue" /> |
111 | <parameter name="rollServoMaxValue" /> |
110 | <parameter name="rollServoFlags" type="bitset"> |
112 | <parameter name="rollServoFlags" type="bitset"> |
111 | <bit name="reverseStabilization" /> |
113 | <bit name="reverseStabilization" /> |
112 | <bit name="Unused" /> |
114 | <bit name="Unused" /> |
113 | <bit name="Unused" /> |
115 | <bit name="Unused" /> |
114 | <bit name="Unused" /> |
116 | <bit name="Unused" /> |
115 | <bit name="Unused" /> |
117 | <bit name="Unused" /> |
116 | <bit name="Unused" /> |
118 | <bit name="Unused" /> |
117 | <bit name="Unused" /> |
119 | <bit name="Unused" /> |
118 | <bit name="Unused" /> |
120 | <bit name="Unused" /> |
119 | </parameter> |
121 | </parameter> |
120 | </section> |
122 | </section> |
121 | 123 | ||
122 | <section name="output"> |
124 | <section name="output"> |
123 | <parameter name="output0BitMask" type="bitset"> |
125 | <parameter name="output0BitMask" type="bitset"> |
124 | <bit name="t0" /> |
126 | <bit name="t0" /> |
125 | <bit name="t1" /> |
127 | <bit name="t1" /> |
126 | <bit name="t2" /> |
128 | <bit name="t2" /> |
127 | <bit name="t3" /> |
129 | <bit name="t3" /> |
128 | <bit name="t4" /> |
130 | <bit name="t4" /> |
129 | <bit name="t5" /> |
131 | <bit name="t5" /> |
130 | <bit name="t6" /> |
132 | <bit name="t6" /> |
131 | <bit name="t7" /> |
133 | <bit name="t7" /> |
132 | </parameter> |
134 | </parameter> |
133 | <parameter name="output0Timing" staticCodeName="outputFlash[0].timing" dynamicCodeName="output0Timing" type="dynamic"/> |
135 | <parameter name="output0Timing" staticCodeName="outputFlash[0].timing" dynamicCodeName="output0Timing" type="dynamic"/> |
134 | <parameter name="output1BitMask" type="bitset"> |
136 | <parameter name="output1BitMask" type="bitset"> |
135 | <bit name="t0" /> |
137 | <bit name="t0" /> |
136 | <bit name="t1" /> |
138 | <bit name="t1" /> |
137 | <bit name="t2" /> |
139 | <bit name="t2" /> |
138 | <bit name="t3" /> |
140 | <bit name="t3" /> |
139 | <bit name="t4" /> |
141 | <bit name="t4" /> |
140 | <bit name="t5" /> |
142 | <bit name="t5" /> |
141 | <bit name="t6" /> |
143 | <bit name="t6" /> |
142 | <bit name="t7" /> |
144 | <bit name="t7" /> |
143 | </parameter> |
145 | </parameter> |
144 | <parameter name="output1Timing" staticCodeName="outputFlash[1].timing" dynamicCodeName="output1Timing" type="dynamic"/> |
146 | <parameter name="output1Timing" staticCodeName="outputFlash[1].timing" dynamicCodeName="output1Timing" type="dynamic"/> |
145 | <parameter name="outputDebugMask" type="bitset"> |
147 | <parameter name="outputDebugMask" type="bitset"> |
146 | <bit name="DEBUG_MAINLOOP_TIMER" /> |
148 | <bit name="DEBUG_MAINLOOP_TIMER" /> |
147 | <bit name="DEBUG_HEIGHT_DIFF" /> |
149 | <bit name="DEBUG_HEIGHT_DIFF" /> |
148 | <bit name="DEBUG_HOVERTHROTTLE" /> |
150 | <bit name="DEBUG_HOVERTHROTTLE" /> |
149 | <bit name="DEBUG_ACC0THORDER" /> |
151 | <bit name="DEBUG_ACC0THORDER" /> |
150 | <bit name="DEBUG_SIGNAL" /> |
152 | <bit name="DEBUG_SIGNAL" /> |
151 | <bit name="DEBUG_PRESSURERANGE" /> |
153 | <bit name="DEBUG_PRESSURERANGE" /> |
152 | <bit name="DEBUG_CLIP" /> |
154 | <bit name="DEBUG_CLIP" /> |
153 | <bit name="DEBUG_SENSORLIMIT" /> |
155 | <bit name="DEBUG_SENSORLIMIT" /> |
154 | </parameter> |
156 | </parameter> |
155 | 157 | ||
156 | <parameter name="outputFlags" type="bitset"> |
158 | <parameter name="outputFlags" type="bitset"> |
157 | <bit name="INVERT_OUTPUT0" /> |
159 | <bit name="INVERT_OUTPUT0" /> |
158 | <bit name="INVERT_OUTPUT1" /> |
160 | <bit name="INVERT_OUTPUT1" /> |
159 | <bit name="FLASH_OUTPUT0_BEEPING" /> |
161 | <bit name="FLASH_OUTPUT0_BEEPING" /> |
160 | <bit name="FLASH_OUTPUT1_BEEPING" /> |
162 | <bit name="FLASH_OUTPUT1_BEEPING" /> |
161 | <bit name="USE_ONBOARD_LEDS" /> |
163 | <bit name="USE_ONBOARD_LEDS" /> |
162 | <bit name="TEST_OFF" /> |
164 | <bit name="TEST_OFF" /> |
163 | <bit name="TEST_ON" /> |
165 | <bit name="TEST_ON" /> |
164 | <bit name="UNUSED" /> |
166 | <bit name="UNUSED" /> |
165 | </parameter> |
167 | </parameter> |
166 | </section> |
168 | </section> |
167 | 169 | ||
168 | <section name="navigation" title="Navigation"> |
170 | <section name="navigation" title="Navigation"> |
169 | <parameter name="naviMode" type="dynamic"/> |
171 | <parameter name="naviMode" type="dynamic"/> |
170 | <parameter name="naviStickThreshold" /> |
172 | <parameter name="naviStickThreshold" /> |
171 | <parameter name="naviStickLimit" /> |
173 | <parameter name="naviStickLimit" /> |
172 | <parameter name="GPSMinimumSatellites" /> |
174 | <parameter name="GPSMinimumSatellites" /> |
173 | <parameter name="naviP" /> |
175 | <parameter name="naviP" /> |
174 | <parameter name="naviI" /> |
176 | <parameter name="naviI" /> |
175 | <parameter name="naviD" /> |
177 | <parameter name="naviD" /> |
176 | </section> |
178 | </section> |
177 | 179 | ||
178 | <section name="userparams" title="User Parameters"> |
180 | <section name="userparams" title="User Parameters"> |
179 | <parameter name="userparam0" /> |
181 | <parameter name="userparam0" /> |
180 | <parameter name="userparam1" /> |
182 | <parameter name="userparam1" /> |
181 | <parameter name="userparam2" /> |
183 | <parameter name="userparam2" /> |
182 | <parameter name="userparam3" /> |
184 | <parameter name="userparam3" /> |
183 | <parameter name="userparam4" /> |
185 | <parameter name="userparam4" /> |
184 | <parameter name="userparam5" /> |
186 | <parameter name="userparam5" /> |
185 | <parameter name="userparam6" /> |
187 | <parameter name="userparam6" /> |
186 | <parameter name="userparam7" /> |
188 | <parameter name="userparam7" /> |
187 | </section> |
189 | </section> |
188 | </parametertemplate> |
190 | </parametertemplate> |