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Rev 1799 | Rev 1806 | ||
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1 | <parameterset eepromVersion="4" length="79"> |
1 | <parameterset eepromVersion="4" length="81"> |
2 | <parameter name="bitConfig"> |
2 | <parameter name="bitConfig"> |
3 | <bit name="CFG_SIMPLE_HEIGHT_CONTROL" value="0"/> |
3 | <bit name="CFG_SIMPLE_HEIGHT_CONTROL" value="0"/> |
4 | <bit name="CFG_SIMPLE_HC_HOLD_SWITCH" value="0"/> |
4 | <bit name="CFG_SIMPLE_HC_HOLD_SWITCH" value="0"/> |
5 | <bit name="CFG_UNUSED" value="0"/> |
5 | <bit name="CFG_UNUSED" value="0"/> |
6 | <bit name="CFG_COMPASS_ACTIVE" value="0"/> |
6 | <bit name="CFG_COMPASS_ACTIVE" value="0"/> |
7 | <bit name="CFG_UNUSED2" value="0"/> |
7 | <bit name="CFG_UNUSED2" value="0"/> |
8 | <bit name="CFG_GPS_ACTIVE" value="0"/> |
8 | <bit name="CFG_GPS_ACTIVE" value="0"/> |
9 | <bit name="CFG_UNUSED3" value="0"/> |
9 | <bit name="CFG_UNUSED3" value="0"/> |
10 | <bit name="CFG_GYRO_SATURATION_PREVENTION" value="0"/> |
10 | <bit name="CFG_GYRO_SATURATION_PREVENTION" value="0"/> |
11 | </parameter> |
11 | </parameter> |
12 | <parameter name="flightMode" value="var0"/> |
12 | <parameter name="flightMode" value="var0"/> |
13 | <parameter name="levelCorrectionPitch" value="var1"/> |
13 | <parameter name="levelCorrectionPitch" value="var1"/> |
14 | <parameter name="levelCorrectionRoll" value="var2"/> |
14 | <parameter name="levelCorrectionRoll" value="var2"/> |
15 | - | ||
16 | <parameter name="attGyroP" value="100"/> |
15 | <parameter name="attGyroP" value="100"/> |
17 | <parameter name="attGyroI" value="100"/> |
16 | <parameter name="attGyroI" value="100"/> |
18 | <parameter name="attGyroIMax" value="0"/> |
17 | <parameter name="attGyroIMax" value="0"/> |
19 | <parameter name="attGyroD" value="100"/> |
18 | <parameter name="attGyroD" value="100"/> |
20 | - | ||
21 | <parameter name="rateGyroP" value="100"/> |
19 | <parameter name="rateGyroP" value="100"/> |
22 | <parameter name="rateGyroI" value="100"/> |
20 | <parameter name="rateGyroI" value="100"/> |
23 | <parameter name="rateGyroIMax" value="0"/> |
21 | <parameter name="rateGyroIMax" value="0"/> |
24 | <parameter name="rateGyroD" value="100"/> |
22 | <parameter name="rateGyroD" value="100"/> |
25 | - | ||
26 | <parameter name="yawGyroP" value="100"/> |
23 | <parameter name="yawGyroP" value="100"/> |
27 | <parameter name="yawGyroI" value="100"/> |
24 | <parameter name="yawGyroI" value="100"/> |
28 | <parameter name="yawGyroD" value="100"/> |
25 | <parameter name="yawGyroD" value="100"/> |
29 | - | ||
30 | <parameter name="externalControl" value="0"/> |
26 | <parameter name="externalControl" value="0"/> |
31 | <parameter name="attitudeControl" value="0"/> |
27 | <parameter name="attitudeControl" value="0"/> |
32 | <parameter name="dynamicStability" value="80"/> |
28 | <parameter name="dynamicStability" value="80"/> |
33 | - | ||
34 | <parameter name="stickP" value="8"/> |
29 | <parameter name="stickP" value="8"/> |
35 | <parameter name="stickD" value="0"/> |
30 | <parameter name="stickD" value="0"/> |
36 | <parameter name="stickYawP" value="8"/> |
31 | <parameter name="stickYawP" value="8"/> |
37 | - | ||
38 | <parameter name="stickThrottleD" value="4"/> |
32 | <parameter name="stickThrottleD" value="4"/> |
39 | <parameter name="minThrottle" value="8"/> |
33 | <parameter name="minThrottle" value="8"/> |
40 | <parameter name="maxThrottle" value="230"/> |
34 | <parameter name="maxThrottle" value="230"/> |
41 | - | ||
- | 35 | <parameter name="absoluteMinThrottle" value="1"/> |
|
- | 36 | <parameter name="absoluteMaxThrottle" value="255"/> |
|
42 | <parameter name="compassMode" value="0"/> |
37 | <parameter name="compassMode" value="0"/> |
43 | <parameter name="compassYawCorrection" value="64"/> |
38 | <parameter name="compassYawCorrection" value="64"/> |
44 | <parameter name="compassBendingReturnSpeed" value="255"/> |
39 | <parameter name="compassBendingReturnSpeed" value="255"/> |
45 | <parameter name="compassP" value="100"/> |
40 | <parameter name="compassP" value="100"/> |
46 | - | ||
47 | <parameter name="batteryVoltageWarning" value="101"/> |
41 | <parameter name="batteryVoltageWarning" value="101"/> |
48 | <parameter name="emergencyThrottle" value="35"/> |
42 | <parameter name="emergencyThrottle" value="35"/> |
49 | <parameter name="emergencyFlightDuration" value="30"/> |
43 | <parameter name="emergencyFlightDuration" value="30"/> |
50 | - | ||
51 | <parameter name="airpressureFilterConstant" value="8"/> |
44 | <parameter name="airpressureFilterConstant" value="8"/> |
52 | <parameter name="airpressureWindowLength" value="0"/> |
45 | <parameter name="airpressureWindowLength" value="0"/> |
53 | <parameter name="airpressureDWindowLength" value="24"/> |
46 | <parameter name="airpressureDWindowLength" value="24"/> |
54 | <parameter name="airpressureAccZCorrection" value="184"/> |
47 | <parameter name="airpressureAccZCorrection" value="184"/> |
55 | - | ||
56 | <parameter name="heightP" value="10"/> |
48 | <parameter name="heightP" value="10"/> |
57 | <parameter name="heightI" value="var7"/> |
49 | <parameter name="heightI" value="var7"/> |
58 | <parameter name="heightD" value="30"/> |
50 | <parameter name="heightD" value="30"/> |
59 | <parameter name="heightSetting" value="var3"/> |
51 | <parameter name="heightSetting" value="var3"/> |
60 | - | ||
61 | <parameter name="heightControlMaxIntegralIn" value="125"/> |
52 | <parameter name="heightControlMaxIntegralIn" value="125"/> |
62 | <parameter name="heightControlMaxIntegralOut" value="75"/> |
53 | <parameter name="heightControlMaxIntegralOut" value="75"/> |
63 | <parameter name="heightMaxThrottleChange" value="75"/> |
54 | <parameter name="heightMaxThrottleChange" value="75"/> |
64 | <parameter name="heightControlTestOscPeriod" value="0"/> |
55 | <parameter name="heightControlTestOscPeriod" value="0"/> |
65 | <parameter name="heightControlTestOscAmplitude" value="0"/> |
56 | <parameter name="heightControlTestOscAmplitude" value="0"/> |
66 | <parameter name="servoCount" value="7"/> |
57 | <parameter name="servoCount" value="7"/> |
67 | <parameter name="servoManualMaxSpeed" value="10"/> |
58 | <parameter name="servoManualMaxSpeed" value="10"/> |
68 | <parameter name="pitchServoControl" value="128"/> |
59 | <parameter name="pitchServoControl" value="128"/> |
69 | <parameter name="pitchServoStabilization" value="0"/> |
60 | <parameter name="pitchServoStabilization" value="50"/> |
70 | <parameter name="pitchServoMinValue" value="32"/> |
61 | <parameter name="pitchServoMinValue" value="32"/> |
71 | <parameter name="pitchServoMaxValue" value="224"/> |
62 | <parameter name="pitchServoMaxValue" value="224"/> |
72 | <parameter name="pitchServoFlags"> |
63 | <parameter name="pitchServoFlags"> |
73 | <bit name="reverseStabilization" value="0"/> |
64 | <bit name="reverseStabilization" value="0"/> |
74 | <bit name="Unused" value="0"/> |
65 | <bit name="Unused" value="0"/> |
75 | <bit name="Unused" value="0"/> |
66 | <bit name="Unused" value="0"/> |
76 | <bit name="Unused" value="0"/> |
67 | <bit name="Unused" value="0"/> |
77 | <bit name="Unused" value="0"/> |
68 | <bit name="Unused" value="0"/> |
78 | <bit name="Unused" value="0"/> |
69 | <bit name="Unused" value="0"/> |
79 | <bit name="Unused" value="0"/> |
70 | <bit name="Unused" value="0"/> |
80 | <bit name="Unused" value="0"/> |
71 | <bit name="Unused" value="0"/> |
81 | </parameter> |
72 | </parameter> |
82 | <parameter name="rollServoControl" value="128"/> |
73 | <parameter name="rollServoControl" value="128"/> |
83 | <parameter name="rollServoStabilization" value="0"/> |
74 | <parameter name="rollServoStabilization" value="50"/> |
84 | <parameter name="rollServoMinValue" value="32"/> |
75 | <parameter name="rollServoMinValue" value="32"/> |
85 | <parameter name="rollServoMaxValue" value="224"/> |
76 | <parameter name="rollServoMaxValue" value="224"/> |
86 | <parameter name="rollServoFlags"> |
77 | <parameter name="rollServoFlags"> |
87 | <bit name="reverseStabilization" value="0"/> |
78 | <bit name="reverseStabilization" value="0"/> |
88 | <bit name="Unused" value="0"/> |
79 | <bit name="Unused" value="0"/> |
89 | <bit name="Unused" value="0"/> |
80 | <bit name="Unused" value="0"/> |
90 | <bit name="Unused" value="0"/> |
81 | <bit name="Unused" value="0"/> |
91 | <bit name="Unused" value="0"/> |
82 | <bit name="Unused" value="0"/> |
92 | <bit name="Unused" value="0"/> |
83 | <bit name="Unused" value="0"/> |
93 | <bit name="Unused" value="0"/> |
84 | <bit name="Unused" value="0"/> |
94 | <bit name="Unused" value="0"/> |
85 | <bit name="Unused" value="0"/> |
95 | </parameter> |
86 | </parameter> |
96 | <parameter name="output0BitMask"> |
87 | <parameter name="output0BitMask"> |
97 | <bit name="t0" value="1"/> |
88 | <bit name="t0" value="1"/> |
98 | <bit name="t1" value="0"/> |
89 | <bit name="t1" value="0"/> |
99 | <bit name="t2" value="0"/> |
90 | <bit name="t2" value="0"/> |
100 | <bit name="t3" value="0"/> |
91 | <bit name="t3" value="0"/> |
101 | <bit name="t4" value="0"/> |
92 | <bit name="t4" value="0"/> |
102 | <bit name="t5" value="0"/> |
93 | <bit name="t5" value="0"/> |
103 | <bit name="t6" value="0"/> |
94 | <bit name="t6" value="0"/> |
104 | <bit name="t7" value="0"/> |
95 | <bit name="t7" value="0"/> |
105 | </parameter> |
96 | </parameter> |
106 | <parameter name="output0Timing" value="15"/> |
97 | <parameter name="output0Timing" value="15"/> |
107 | <parameter name="output1BitMask"> |
98 | <parameter name="output1BitMask"> |
108 | <bit name="t0" value="1"/> |
99 | <bit name="t0" value="1"/> |
109 | <bit name="t1" value="1"/> |
100 | <bit name="t1" value="1"/> |
110 | <bit name="t2" value="0"/> |
101 | <bit name="t2" value="0"/> |
111 | <bit name="t3" value="0"/> |
102 | <bit name="t3" value="0"/> |
112 | <bit name="t4" value="0"/> |
103 | <bit name="t4" value="0"/> |
113 | <bit name="t5" value="0"/> |
104 | <bit name="t5" value="0"/> |
114 | <bit name="t6" value="0"/> |
105 | <bit name="t6" value="0"/> |
115 | <bit name="t7" value="0"/> |
106 | <bit name="t7" value="0"/> |
116 | </parameter> |
107 | </parameter> |
117 | <parameter name="output1Timing" value="15"/> |
108 | <parameter name="output1Timing" value="15"/> |
118 | <parameter name="outputDebugMask"> |
109 | <parameter name="outputDebugMask"> |
119 | <bit name="DEBUG_MAINLOOP_TIMER" value="1"/> |
110 | <bit name="DEBUG_MAINLOOP_TIMER" value="0"/> |
120 | <bit name="DEBUG_HEIGHT_DIFF" value="0"/> |
111 | <bit name="DEBUG_HEIGHT_DIFF" value="0"/> |
121 | <bit name="DEBUG_HOVERTHROTTLE" value="0"/> |
112 | <bit name="DEBUG_HOVERTHROTTLE" value="1"/> |
122 | <bit name="DEBUG_ACC0THORDER" value="0"/> |
113 | <bit name="DEBUG_ACC0THORDER" value="0"/> |
123 | <bit name="DEBUG_SIGNAL" value="0"/> |
114 | <bit name="DEBUG_SIGNAL" value="0"/> |
124 | <bit name="DEBUG_PRESSURERANGE" value="0"/> |
115 | <bit name="DEBUG_PRESSURERANGE" value="0"/> |
125 | <bit name="DEBUG_CLIP" value="0"/> |
116 | <bit name="DEBUG_CLIP" value="0"/> |
126 | <bit name="DEBUG_SENSORLIMIT" value="0"/> |
117 | <bit name="DEBUG_SENSORLIMIT" value="0"/> |
127 | </parameter> |
118 | </parameter> |
128 | <parameter name="outputFlags"> |
119 | <parameter name="outputFlags"> |
129 | <bit name="INVERT_OUTPUT0" value="0"/> |
120 | <bit name="INVERT_OUTPUT0" value="0"/> |
130 | <bit name="INVERT_OUTPUT1" value="0"/> |
121 | <bit name="INVERT_OUTPUT1" value="0"/> |
131 | <bit name="FLASH_OUTPUT0_BEEPING" value="0"/> |
122 | <bit name="FLASH_OUTPUT0_BEEPING" value="0"/> |
132 | <bit name="FLASH_OUTPUT1_BEEPING" value="0"/> |
123 | <bit name="FLASH_OUTPUT1_BEEPING" value="0"/> |
133 | <bit name="USE_ONBOARD_LEDS" value="1"/> |
124 | <bit name="USE_ONBOARD_LEDS" value="1"/> |
134 | <bit name="TEST_OFF" value="0"/> |
125 | <bit name="TEST_OFF" value="0"/> |
135 | <bit name="TEST_ON" value="0"/> |
126 | <bit name="TEST_ON" value="0"/> |
136 | <bit name="UNUSED" value="0"/> |
127 | <bit name="UNUSED" value="0"/> |
137 | </parameter> |
128 | </parameter> |
138 | <parameter name="naviMode" value="0"/> |
129 | <parameter name="naviMode" value="0"/> |
139 | <parameter name="naviStickThreshold" value="255"/> |
130 | <parameter name="naviStickThreshold" value="255"/> |
140 | <parameter name="naviStickLimit" value="255"/> |
131 | <parameter name="naviStickLimit" value="255"/> |
141 | <parameter name="GPSMinimumSatellites" value="255"/> |
132 | <parameter name="GPSMinimumSatellites" value="255"/> |
142 | <parameter name="naviP" value="255"/> |
133 | <parameter name="naviP" value="255"/> |
143 | <parameter name="naviI" value="255"/> |
134 | <parameter name="naviI" value="255"/> |
144 | <parameter name="naviD" value="255"/> |
135 | <parameter name="naviD" value="255"/> |
145 | <parameter name="naviTestOscPeriod" value="255"/> |
136 | <parameter name="naviTestOscPeriod" value="255"/> |
146 | <parameter name=" naviTestOscAmplitude" value="255"/> |
137 | <parameter name=" naviTestOscAmplitude" value="255"/> |
147 | <parameter name="userparam0" value="0"/> |
138 | <parameter name="userparam0" value="0"/> |
148 | <parameter name="userparam1" value="1"/> |
139 | <parameter name="userparam1" value="1"/> |
149 | <parameter name="userparam2" value="2"/> |
140 | <parameter name="userparam2" value="2"/> |
150 | <parameter name="userparam3" value="3"/> |
141 | <parameter name="userparam3" value="3"/> |
151 | <parameter name="userparam4" value="4"/> |
142 | <parameter name="userparam4" value="4"/> |
152 | <parameter name="userparam5" value="5"/> |
143 | <parameter name="userparam5" value="5"/> |
153 | <parameter name="userparam6" value="6"/> |
144 | <parameter name="userparam6" value="6"/> |
154 | <parameter name="userparam7" value="7"/> |
145 | <parameter name="userparam7" value="7"/> |
155 | </parameterset> |
146 | </parameterset> |
156 | 147 | ||
157 | 148 |