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Allen
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May 18, 2011
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| <!DOCTYPE settings SYSTEM "settings.dtd"> | ||
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| <settings> | ||
| <dl_settings> | ||
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| <dl_settings NAME="Misc"> | ||
| <dl_setting var="telemetry_mode_Main_DefaultChannel" min="0" step="1" max="11" module="telemetry" shortname="telemetry" values="Default|PPM|Raw|Scaled|AHRS|Rate|Attitude|Vertical|Horizontal|Aligner|HS_att_roll|Tune_hover"> | ||
| <key_press key="d" value="0"/> | ||
| <key_press key="v" value="7"/> | ||
| <key_press key="h" value="8"/> | ||
| </dl_setting> | ||
| <dl_setting var="autopilot_mode_auto2" min="0" step="1" max="12" module="autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav"/> | ||
| <dl_setting var="kill_throttle" min="0" step="1" max="1" module="autopilot" values="Resurrect|Kill" handler="KillThrottle"/> | ||
| <dl_setting var="autopilot_power_switch" min="0" step="1" max="1" module="autopilot" values="OFF|ON" handler="SetPowerSwitch"> | ||
| <strip_button name="POWER ON" icon="on.png" value="1"/> | ||
| <strip_button name="POWER OFF" icon="off.png" value="0"/> | ||
| </dl_setting> | ||
| <dl_setting var="autopilot_rc" min="0" step="1" max="1" module="autopilot" values="RC OFF|RC ON"> | ||
| <strip_button name="RC ON" value="1"/> | ||
| <strip_button name="RC OFF" value="0"/> | ||
| </dl_setting> | ||
| </dl_settings> | ||
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| <dl_settings NAME="Rate Loop"> | ||
| <dl_setting var="stabilization_rate_gain.p" min="-1000" step="1" max="-1" module="stabilization/stabilization_rate" shortname="gain p"/> | ||
| <dl_setting var="stabilization_rate_gain.q" min="-1000" step="1" max="-1" module="stabilization/stabilization_rate" shortname="gain q"/> | ||
| <dl_setting var="stabilization_rate_gain.r" min="-1000" step="1" max="-1" module="stabilization/stabilization_rate" shortname="gain r"/> | ||
| </dl_settings> | ||
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| <dl_settings NAME="Att Loop"> | ||
| <dl_setting var="stabilization_gains.p.x" min="-2000" step="1" max="-1" module="stabilization/stabilization_attitude" shortname="pgain phi" /> | ||
| <dl_setting var="stabilization_gains.d.x" min="-2000" step="1" max="-1" module="stabilization/stabilization_attitude" shortname="dgain p"/> | ||
| <dl_setting var="stabilization_gains.i.x" min="-300" step="1" max="0" module="stabilization/stabilization_attitude" shortname="igain phi" handler="SetKiPhi"/> | ||
| <dl_setting var="stabilization_gains.dd.x" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="ddgain p"/> | ||
| <dl_setting var="stabilization_gains.p.y" min="-2000" step="1" max="-1" module="stabilization/stabilization_attitude" shortname="pgain theta"/> | ||
| <dl_setting var="stabilization_gains.d.y" min="-2000" step="1" max="-1" module="stabilization/stabilization_attitude" shortname="dgain q"/> | ||
| <dl_setting var="stabilization_gains.i.y" min="-300" step="1" max="0" module="stabilization/stabilization_attitude" shortname="igain theta"/> | ||
| <dl_setting var="stabilization_gains.dd.y" min="0" step="1" max="500" module="stabilization/stabilization_attitude" shortname="ddgain q"/> | ||
| <dl_setting var="stabilization_gains.p.z" min="-4000" step="1" max="-1" module="stabilization/stabilization_attitude" shortname="pgain psi"/> | ||
| <dl_setting var="stabilization_gains.d.z" min="-8000" step="1" max="-1" module="stabilization/stabilization_attitude" shortname="dgain r"/> | ||
| <dl_setting var="stabilization_gains.i.z" min="-800" step="1" max="0" module="stabilization/stabilization_attitude" shortname="igain psi"/> | ||
| <dl_setting var="stabilization_gains.dd.z" min="0" step="1" max="2000" module="stabilization/stabilization_attitude" shortname="ddgain r"/> | ||
| </dl_settings> | ||
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| <dl_settings NAME="Vert Loop"> | ||
| <dl_setting var="guidance_v_kp" min="-600" step="1" max="0" module="guidance/guidance_v" shortname="kp"/> | ||
| <dl_setting var="guidance_v_kd" min="-600" step="1" max="0" module="guidance/guidance_v" shortname="kd"/> | ||
| <dl_setting var="guidance_v_ki" min="-300" step="1" max="0" module="guidance/guidance_v" shortname="ki" handler="SetKi" /> | ||
| <dl_setting var="guidance_v_z_sp" min="-5" step="0.5" max="3" module="guidance/guidance_v" shortname="sp" unit="2e-8m" alt_unit="m" alt_unit_coef="0.00390625"/> | ||
| <dl_setting var="ins_vf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="vf_realign" values="OFF|ON"/> | ||
| </dl_settings> | ||
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| <dl_settings NAME="Horiz Loop"> | ||
| <dl_setting var="guidance_h_pos_sp.x" MIN="-10" MAX="10" STEP="1" module="guidance/guidance_h" shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/> | ||
| <dl_setting var="guidance_h_pos_sp.y" MIN="-10" MAX="10" STEP="1" module="guidance/guidance_h" shortname="sp_y_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/> | ||
| <dl_setting var="guidance_h_psi_sp" MIN="-180" MAX="180" STEP="5" module="guidance/guidance_h" shortname="sp_psi" unit="1/2^20r" alt_unit="deg" alt_unit_coef="0.000054641513360"/> | ||
| <dl_setting var="guidance_h_pgain" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="kp"/> | ||
| <dl_setting var="guidance_h_dgain" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="kd"/> | ||
| <dl_setting var="guidance_h_igain" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="ki" handler="SetKi"/> | ||
| <dl_setting var="guidance_h_ngain" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="kn"/> | ||
| <dl_setting var="guidance_h_again" min="-400" step="1" max="0" module="guidance/guidance_h" shortname="ka"/> | ||
| <dl_setting var="ins_hf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="hf_realign" values="OFF|ON"/> | ||
| </dl_settings> | ||
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| <dl_settings NAME="NAV"> | ||
| <dl_setting var="flight_altitude" MIN="0" STEP="0.1" MAX="400" module="navigation" unit="m" handler="SetFlightAltitude"/> | ||
| <dl_setting var="nav_heading" MIN="0" STEP="1" MAX="360" module="navigation" unit="1/2^12r" alt_unit="deg" alt_unit_coef="0.0139882"/> | ||
| <dl_setting var="nav_radius" MIN="-150" STEP="0.1" MAX="150" module="navigation" unit="m"/> | ||
| </dl_settings> | ||
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| </dl_settings> | ||
| </settings> |