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<?xml version="1.0" encoding="utf-8" ?>
<AC >
<Item >
<HEAD > Stabilization:</HEAD>
<SUBHEAD > Angular Rate Control:</SUBHEAD>
<DESC > How much throttle is applied to rotate the copter at the desired speed.
Adjust P by motor size
Small: P = 0.145
Med: P = 0.110
Large: P = 0.090</DESC>
<FIELDS >
<FIELD >
<NAME > P</NAME>
<PARAMNAME > RATE_RLL_P</PARAMNAME>
<PARAMNAME > RATE_PIT_P</PARAMNAME>
<RANGEMIN > 0.001</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > I</NAME>
<PARAMNAME > RATE_RLL_I</PARAMNAME>
<PARAMNAME > RATE_PIT_I</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > D</NAME>
<PARAMNAME > RATE_RLL_D</PARAMNAME>
<PARAMNAME > RATE_PIT_D</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > IMAX</NAME>
<PARAMNAME > RATE_RLL_IMAX</PARAMNAME>
<PARAMNAME > RATE_PIT_IMAX</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 40</RANGEMAX>
<STEP > 0.1</STEP>
</FIELD>
</FIELDS>
<SUBHEAD > Dampening:</SUBHEAD>
<DESC > Resistance to angular acceleration
A dynamic gain is applied so that the dampening only occurs at 100% when the control sticks are centered.
When the sticks are fully deflected:
1.0 = 0%
0.5 = 50%
0.0 = 100%</DESC>
<FIELDS >
<FIELD >
<NAME > Dampen</NAME>
<PARAMNAME > STAB_D</PARAMNAME>
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<RANGEMIN > 0</RANGEMIN>
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<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > Dynamic</NAME>
<PARAMNAME > STAB_D_S</PARAMNAME>
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<RANGEMIN > 0</RANGEMIN>
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<RANGEMAX > 1</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
</FIELDS>
<SUBHEAD > Stabilize Control:</SUBHEAD>
<DESC >
How fast the copter reacts to user or autopilot input.
Higher = more aggressive control.
Too high = slow wobbles
</DESC>
<FIELDS >
<FIELD >
<NAME > P</NAME>
<PARAMNAME > STB_RLL_P</PARAMNAME>
<PARAMNAME > STB_PIT_P</PARAMNAME>
<RANGEMIN > 0.001</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > I</NAME>
<PARAMNAME > STB_RLL_I</PARAMNAME>
<PARAMNAME > STB_PIT_I</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > IMAX</NAME>
<PARAMNAME > STB_RLL_IMAX</PARAMNAME>
<PARAMNAME > STB_PIT_IMAX</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 50</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
</FIELDS>
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<SUBHEAD > Yaw Angular Rate Control:</SUBHEAD>
<DESC > How much throttle is applied to rotate the copter at the desired speed.
</DESC>
<FIELDS >
<FIELD >
<NAME > P</NAME>
<PARAMNAME > RATE_YAW_P</PARAMNAME>
<RANGEMIN > 0.001</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > I</NAME>
<PARAMNAME > RATE_YAW_I</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > D</NAME>
<PARAMNAME > RATE_YAW_D</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > IMAX</NAME>
<PARAMNAME > RATE_YAW_IMAX</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 50</RANGEMAX>
<STEP > 1</STEP>
</FIELD>
</FIELDS>
<SUBHEAD > Yaw Stabilize Control:</SUBHEAD>
<DESC >
How fast the copter reacts to user or autopilot input.
Higher = more aggressive control.
Too high = slow wobbles
</DESC>
<FIELDS >
<FIELD >
<NAME > P</NAME>
<PARAMNAME > STB_YAW_P</PARAMNAME>
<RANGEMIN > 0.001</RANGEMIN>
<RANGEMAX > 10</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > I</NAME>
<PARAMNAME > STB_YAW_I</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > IMAX</NAME>
<PARAMNAME > STB_YAW_IMAX</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 50</RANGEMAX>
<STEP > 1</STEP>
</FIELD>
</FIELDS>
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</Item>
<!-- Loiter -->
<Item >
<HEAD > Loiter:</HEAD>
<SUBHEAD > Angular Rate Control:</SUBHEAD>
<DESC >
How much angle is applied to make the copter accelerate to the desired speed.
</DESC>
<FIELDS >
<FIELD >
<NAME > P</NAME>
<PARAMNAME > LOITER_LAT_P</PARAMNAME>
<PARAMNAME > LOITER_LON_P</PARAMNAME>
<RANGEMIN > 0.001</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > I</NAME>
<PARAMNAME > LOITER_LAT_I</PARAMNAME>
<PARAMNAME > LOITER_LON_I</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > D</NAME>
<PARAMNAME > LOITER_LAT_D</PARAMNAME>
<PARAMNAME > LOITER_LON_D</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > IMAX</NAME>
<PARAMNAME > LOITER_LAT_IMAX</PARAMNAME>
<PARAMNAME > LOITER_LON_IMAX</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 50</RANGEMAX>
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<STEP > 1</STEP>
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</FIELD>
</FIELDS>
<SUBHEAD > Loiter Speed:</SUBHEAD>
<DESC >
How fast the copter should move towards the target. A larger value means a faster return to center, but can cause the copter to oscillate around the target.
A distance error of 100cm * P of .25 = 25 cm/s
</DESC>
<FIELDS >
<FIELD >
<NAME > P</NAME>
<PARAMNAME > HLD_LAT_P</PARAMNAME>
<PARAMNAME > HLD_LON_P</PARAMNAME>
<RANGEMIN > 0.001</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
</FIELDS>
</Item>
<!-- WP Nav -->
<Item >
<HEAD > WP Navigation:</HEAD>
<SUBHEAD > Nav Rate Control:</SUBHEAD>
<DESC >
How much angle is applied to make the copter accelerate to the desired speed.
</DESC>
<FIELDS >
<FIELD >
<NAME > P</NAME>
<PARAMNAME > NAV_LAT_P</PARAMNAME>
<PARAMNAME > NAV_LON_P</PARAMNAME>
<RANGEMIN > 0.001</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > I</NAME>
<PARAMNAME > NAV_LAT_I</PARAMNAME>
<PARAMNAME > NAV_LON_I</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > D</NAME>
<PARAMNAME > NAV_LAT_D</PARAMNAME>
<PARAMNAME > NAV_LON_D</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > IMAX</NAME>
<PARAMNAME > NAV_LAT_IMAX</PARAMNAME>
<PARAMNAME > NAV_LON_IMAX</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 50</RANGEMAX>
<STEP > 0.1</STEP>
</FIELD>
</FIELDS>
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<SUBHEAD > WP Speed:</SUBHEAD>
<DESC >
How fast the copter should move towards the target. A larger value means a faster return to center, but can cause the copter to oscillate around the target.
in m/s
</DESC>
<FIELDS >
<FIELD >
<NAME > Speed</NAME>
<PARAMNAME > WP_SPEED_MAX</PARAMNAME>
<RANGEMIN > 1</RANGEMIN>
<RANGEMAX > 30</RANGEMAX>
<STEP > 1</STEP>
</FIELD>
</FIELDS>
</Item>
<!-- Alt Hold -->
<Item >
<HEAD > Altitude Hold:</HEAD>
<SUBHEAD > Altitude Error:</SUBHEAD>
<DESC >
How fast the copter should go to reach the correct altitude.
</DESC>
<FIELDS >
<FIELD >
<NAME > P</NAME>
<PARAMNAME > THR_ALT_P</PARAMNAME>
<RANGEMIN > 0.001</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > I</NAME>
<PARAMNAME > THR_ALT_I</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > IMAX</NAME>
<PARAMNAME > THR_ALT_IMAX</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 50</RANGEMAX>
<STEP > 0.1</STEP>
</FIELD>
</FIELDS>
<SUBHEAD > Thrust Rate:</SUBHEAD>
<DESC >
How much thrust to give us the desired rate.
This will change depending on the weight and thrust of your copter.
</DESC>
<FIELDS >
<FIELD >
<NAME > P</NAME>
<PARAMNAME > THR_RATE_P</PARAMNAME>
<RANGEMIN > 0.001</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > I</NAME>
<PARAMNAME > THR_RATE_I</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > D</NAME>
<PARAMNAME > THR_RATE_D</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 5</RANGEMAX>
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<STEP > 0.0001</STEP>
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</FIELD>
<FIELD >
<NAME > IMAX</NAME>
<PARAMNAME > THR_RATE_IMAX</PARAMNAME>
<RANGEMIN > 0</RANGEMIN>
<RANGEMAX > 50</RANGEMAX>
<STEP > 0.1</STEP>
</FIELD>
</FIELDS>
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</Item>
</AC>