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351 lines
9.3 KiB
351 lines
9.3 KiB
<?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</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</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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<SUBHEAD>Yaw 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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</DESC> |
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<FIELDS> |
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<FIELD> |
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<NAME>P</NAME> |
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<PARAMNAME>RATE_YAW_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_YAW_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_YAW_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_YAW_IMAX</PARAMNAME> |
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<RANGEMIN>0</RANGEMIN> |
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<RANGEMAX>50</RANGEMAX> |
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<STEP>1</STEP> |
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</FIELD> |
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</FIELDS> |
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<SUBHEAD>Yaw 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_YAW_P</PARAMNAME> |
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<RANGEMIN>0.001</RANGEMIN> |
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<RANGEMAX>10</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_YAW_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_YAW_IMAX</PARAMNAME> |
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<RANGEMIN>0</RANGEMIN> |
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<RANGEMAX>50</RANGEMAX> |
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<STEP>1</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>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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<SUBHEAD>WP 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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in m/s |
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</DESC> |
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<FIELDS> |
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<FIELD> |
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<NAME>Speed</NAME> |
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<PARAMNAME>WP_SPEED_MAX</PARAMNAME> |
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<RANGEMIN>1</RANGEMIN> |
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<RANGEMAX>30</RANGEMAX> |
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<STEP>1</STEP> |
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</FIELD> |
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</FIELDS> |
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</Item> |
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<!-- Alt Hold --> |
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<Item> |
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<HEAD>Altitude Hold:</HEAD> |
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<SUBHEAD>Altitude Error:</SUBHEAD> |
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<DESC> |
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How fast the copter should go to reach the correct altitude. |
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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>THR_ALT_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>THR_ALT_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>THR_ALT_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>Thrust Rate:</SUBHEAD> |
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<DESC> |
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How much thrust to give us the desired rate. |
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This will change depending on the weight and thrust of your copter. |
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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>THR_RATE_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>THR_RATE_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>THR_RATE_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>THR_RATE_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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