mirror of https://github.com/ArduPilot/ardupilot
206 lines
5.5 KiB
XML
206 lines
5.5 KiB
XML
<?xml version="1.0" encoding="utf-8" ?>
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<AC>
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<Item>
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<HEAD>Stabilization:</HEAD>
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<SUBHEAD>Angular Rate Control:</SUBHEAD>
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<DESC>How much throttle is applied to rotate the copter at the desired speed.
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Adjust P by motor size
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Small: P = 0.145
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Med: P = 0.110
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Large: P = 0.090</DESC>
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<FIELDS>
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<FIELD>
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<NAME>P</NAME>
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<PARAMNAME>RATE_RLL_P</PARAMNAME>
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<PARAMNAME>RATE_PIT_P</PARAMNAME>
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<RANGEMIN>0.001</RANGEMIN>
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<RANGEMAX>5</RANGEMAX>
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<STEP>0.001</STEP>
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</FIELD>
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<FIELD>
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<NAME>I</NAME>
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<PARAMNAME>RATE_RLL_I</PARAMNAME>
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<PARAMNAME>RATE_PIT_I</PARAMNAME>
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<RANGEMIN>0</RANGEMIN>
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<RANGEMAX>5</RANGEMAX>
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<STEP>0.001</STEP>
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</FIELD>
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<FIELD>
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<NAME>D</NAME>
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<PARAMNAME>RATE_RLL_D</PARAMNAME>
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<PARAMNAME>RATE_PIT_D</PARAMNAME>
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<RANGEMIN>0</RANGEMIN>
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<RANGEMAX>5</RANGEMAX>
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<STEP>0.001</STEP>
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</FIELD>
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<FIELD>
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<NAME>IMAX</NAME>
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<PARAMNAME>RATE_RLL_IMAX</PARAMNAME>
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<PARAMNAME>RATE_PIT_IMAX</PARAMNAME>
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<RANGEMIN>0</RANGEMIN>
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<RANGEMAX>40</RANGEMAX>
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<STEP>0.1</STEP>
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</FIELD>
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</FIELDS>
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<SUBHEAD>Dampening:</SUBHEAD>
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<DESC>Resistance to angular acceleration
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A dynamic gain is applied so that the dampening only occurs at 100% when the control sticks are centered.
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When the sticks are fully deflected:
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1.0 = 0%
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0.5 = 50%
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0.0 = 100%</DESC>
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<FIELDS>
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<FIELD>
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<NAME>Dampen</NAME>
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<PARAMNAME>STAB_D</PARAMNAME>
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<RANGEMIN>0.001</RANGEMIN>
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<RANGEMAX>5</RANGEMAX>
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<STEP>0.001</STEP>
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</FIELD>
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<FIELD>
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<NAME>Dynamic</NAME>
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<PARAMNAME>STAB_D_S</PARAMNAME>
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<RANGEMIN>0.001</RANGEMIN>
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<RANGEMAX>1</RANGEMAX>
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<STEP>0.001</STEP>
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</FIELD>
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</FIELDS>
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<SUBHEAD>Stabilize Control:</SUBHEAD>
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<DESC>
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How fast the copter reacts to user or autopilot input.
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Higher = more aggressive control.
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Too high = slow wobbles
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</DESC>
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<FIELDS>
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<FIELD>
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<NAME>P</NAME>
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<PARAMNAME>STB_RLL_P</PARAMNAME>
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<PARAMNAME>STB_PIT_P</PARAMNAME>
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<RANGEMIN>0.001</RANGEMIN>
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<RANGEMAX>5</RANGEMAX>
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<STEP>0.001</STEP>
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</FIELD>
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<FIELD>
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<NAME>I</NAME>
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<PARAMNAME>STB_RLL_I</PARAMNAME>
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<PARAMNAME>STB_PIT_I</PARAMNAME>
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<RANGEMIN>0</RANGEMIN>
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<RANGEMAX>5</RANGEMAX>
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<STEP>0.001</STEP>
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</FIELD>
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<FIELD>
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<NAME>IMAX</NAME>
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<PARAMNAME>STB_RLL_IMAX</PARAMNAME>
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<PARAMNAME>STB_PIT_IMAX</PARAMNAME>
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<RANGEMIN>0</RANGEMIN>
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<RANGEMAX>50</RANGEMAX>
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<STEP>0.001</STEP>
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</FIELD>
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</FIELDS>
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</Item>
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<!-- Loiter -->
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<Item>
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<HEAD>Loiter:</HEAD>
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<SUBHEAD>Angular Rate Control:</SUBHEAD>
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<DESC>
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How much angle is applied to make the copter accelerate to the desired speed.
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</DESC>
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<FIELDS>
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<FIELD>
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<NAME>P</NAME>
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<PARAMNAME>LOITER_LAT_P</PARAMNAME>
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<PARAMNAME>LOITER_LON_P</PARAMNAME>
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<RANGEMIN>0.001</RANGEMIN>
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<RANGEMAX>5</RANGEMAX>
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<STEP>0.001</STEP>
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</FIELD>
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<FIELD>
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<NAME>I</NAME>
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<PARAMNAME>LOITER_LAT_I</PARAMNAME>
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<PARAMNAME>LOITER_LON_I</PARAMNAME>
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<RANGEMIN>0</RANGEMIN>
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<RANGEMAX>5</RANGEMAX>
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<STEP>0.001</STEP>
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</FIELD>
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<FIELD>
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<NAME>D</NAME>
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<PARAMNAME>LOITER_LAT_D</PARAMNAME>
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<PARAMNAME>LOITER_LON_D</PARAMNAME>
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<RANGEMIN>0</RANGEMIN>
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<RANGEMAX>5</RANGEMAX>
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<STEP>0.001</STEP>
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</FIELD>
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<FIELD>
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<NAME>IMAX</NAME>
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<PARAMNAME>LOITER_LAT_IMAX</PARAMNAME>
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<PARAMNAME>LOITER_LON_IMAX</PARAMNAME>
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<RANGEMIN>0</RANGEMIN>
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<RANGEMAX>50</RANGEMAX>
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<STEP>0.1</STEP>
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</FIELD>
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</FIELDS>
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<SUBHEAD>Loiter Speed:</SUBHEAD>
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<DESC>
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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.
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A distance error of 100cm * P of .25 = 25 cm/s
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</DESC>
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<FIELDS>
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<FIELD>
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<NAME>P</NAME>
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<PARAMNAME>HLD_LAT_P</PARAMNAME>
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<PARAMNAME>HLD_LON_P</PARAMNAME>
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<RANGEMIN>0.001</RANGEMIN>
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<RANGEMAX>5</RANGEMAX>
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<STEP>0.001</STEP>
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</FIELD>
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</FIELDS>
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</Item>
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<!-- WP Nav -->
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<Item>
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<HEAD>WP Navigation:</HEAD>
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<SUBHEAD>Nav Rate Control:</SUBHEAD>
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<DESC>
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How much angle is applied to make the copter accelerate to the desired speed.
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</DESC>
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<FIELDS>
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<FIELD>
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<NAME>P</NAME>
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<PARAMNAME>NAV_LAT_P</PARAMNAME>
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<PARAMNAME>NAV_LON_P</PARAMNAME>
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<RANGEMIN>0.001</RANGEMIN>
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<RANGEMAX>5</RANGEMAX>
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<STEP>0.001</STEP>
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</FIELD>
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<FIELD>
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<NAME>I</NAME>
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<PARAMNAME>NAV_LAT_I</PARAMNAME>
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<PARAMNAME>NAV_LON_I</PARAMNAME>
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<RANGEMIN>0</RANGEMIN>
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<RANGEMAX>5</RANGEMAX>
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<STEP>0.001</STEP>
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</FIELD>
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<FIELD>
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<NAME>D</NAME>
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<PARAMNAME>NAV_LAT_D</PARAMNAME>
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<PARAMNAME>NAV_LON_D</PARAMNAME>
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<RANGEMIN>0</RANGEMIN>
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<RANGEMAX>5</RANGEMAX>
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<STEP>0.001</STEP>
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</FIELD>
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<FIELD>
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<NAME>IMAX</NAME>
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<PARAMNAME>NAV_LAT_IMAX</PARAMNAME>
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<PARAMNAME>NAV_LON_IMAX</PARAMNAME>
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<RANGEMIN>0</RANGEMIN>
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<RANGEMAX>50</RANGEMAX>
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<STEP>0.1</STEP>
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</FIELD>
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</FIELDS>
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</Item>
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</AC>
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