610 lines
14 KiB
XML
610 lines
14 KiB
XML
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<?xml version="1.0"?>
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<param_list>
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<group name="INS">
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<param name="GPS_HOR_Q_BIAS">
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<value>2.500000</value>
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</param>
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<param name="GPS_HOR_Q_SCALE">
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<value>0.400000</value>
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</param>
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<param name="GPS_VER_Q_BIAS">
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<value>4.500000</value>
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</param>
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<param name="GPS_VER_Q_SCALE">
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<value>0.250000</value>
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</param>
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<param name="GPS_VEL_Q_BIAS">
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<value>1.000000</value>
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</param>
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<param name="GPS_VEL_Q_SCALE">
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<value>1.000000</value>
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</param>
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<param name="ATT_GAIN">
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<value>0.200000</value>
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</param>
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<param name="HEADING_GAIN">
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<value>0.050000</value>
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</param>
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<param name="MAG_GAIN">
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<value>0.200000</value>
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</param>
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<param name="MAG_AIR_EN">
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<value>0</value>
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</param>
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<param name="BIAS_G_GAIN">
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<value>0.250000</value>
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</param>
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<param name="GPS_POS_GAIN">
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<value>0.000000</value>
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</param>
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<param name="GPS_ALT_GAIN">
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<value>0.000000</value>
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</param>
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<param name="GPS_VEL_GAIN">
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<value>2.000000</value>
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</param>
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<param name="GPS_BIAS_A_GAIN">
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<value>1.000000</value>
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</param>
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<param name="GPS_POS_DELAY">
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<value>150</value>
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</param>
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<param name="GPS_VEL_DELAY">
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<value>100</value>
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</param>
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<param name="OPF_VEL_GAIN">
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<value>2.000000</value>
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</param>
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<param name="OPF_BIAS_A_GAIN">
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<value>1.000000</value>
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</param>
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<param name="OPF_VEL_DELAY">
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<value>10</value>
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</param>
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<param name="BARO_H_GAIN">
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<value>2.000000</value>
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</param>
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<param name="BARO_VZ_GAIN">
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<value>1.000000</value>
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</param>
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<param name="BARO_BIAS_AZ_GAIN">
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<value>0.200000</value>
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</param>
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<param name="BARO_H_DELAY">
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<value>10</value>
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</param>
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<param name="RF_H_GAIN">
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<value>3.000000</value>
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</param>
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<param name="RF_VZ_GAIN">
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<value>5.000000</value>
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</param>
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<param name="RF_BIAS_AZ_GAIN">
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<value>0.200000</value>
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</param>
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<param name="RF_H_DELAY">
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<value>10</value>
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</param>
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</group>
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<group name="FMS">
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<param name="THROTTLE_DZ">
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<value>0.150000</value>
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</param>
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<param name="YAW_DZ">
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<value>0.150000</value>
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</param>
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<param name="ROLL_DZ">
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<value>0.100000</value>
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</param>
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<param name="PITCH_DZ">
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<value>0.100000</value>
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</param>
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<param name="XY_P">
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<value>1.200000</value>
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</param>
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<param name="Z_P">
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<value>1.500000</value>
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</param>
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<param name="VEL_XY_LIM">
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<value>0.400000</value>
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</param>
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<param name="VEL_Z_LIM">
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<value>0.400000</value>
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</param>
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<param name="YAW_P">
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<value>3.000000</value>
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</param>
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<param name="YAW_RATE_LIM">
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<value>1.047198</value>
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</param>
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<param name="ROLL_PITCH_LIM">
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<value>0.523599</value>
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</param>
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<param name="L1">
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<value>10.000000</value>
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</param>
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<param name="CRUISE_SPEED">
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<value>0.500000</value>
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</param>
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<param name="TAKEOFF_H">
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<value>0.500000</value>
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</param>
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<param name="ACCEPT_R">
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<value>0.100000</value>
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</param>
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<param name="LOST_RETURN_TIME">
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<value>120</value>
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</param>
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<param name="LOST_RETURN_EN">
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<value>1</value>
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</param>
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</group>
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<group name="CONTROL">
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<param name="AIRFRAME">
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<value>1</value>
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</param>
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<param name="VEL_XY_P">
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<value>2.200000</value>
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</param>
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<param name="VEL_XY_I">
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<value>0.500000</value>
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</param>
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<param name="VEL_XY_D">
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<value>0.100000</value>
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</param>
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<param name="VEL_Z_P">
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<value>0.600000</value>
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</param>
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<param name="VEL_Z_I">
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<value>0.120000</value>
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</param>
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<param name="VEL_Z_D">
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<value>0.100000</value>
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</param>
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<param name="VEL_XY_I_MIN">
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<value>-0.150000</value>
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</param>
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<param name="VEL_XY_I_MAX">
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<value>0.150000</value>
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</param>
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<param name="VEL_XY_D_MIN">
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<value>-0.150000</value>
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</param>
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<param name="VEL_XY_D_MAX">
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<value>0.150000</value>
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</param>
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<param name="VEL_Z_I_MIN">
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<value>-0.300000</value>
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</param>
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<param name="VEL_Z_I_MAX">
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<value>0.300000</value>
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</param>
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<param name="VEL_Z_D_MIN">
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<value>-0.100000</value>
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</param>
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<param name="VEL_Z_D_MAX">
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<value>0.100000</value>
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</param>
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<param name="YAW_RATE_P">
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<value>0.600000</value>
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</param>
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<param name="YAW_RATE_I">
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<value>0.250000</value>
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</param>
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<param name="YAW_RATE_D">
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<value>0.004000</value>
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</param>
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<param name="RATE_I_MIN">
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<value>-0.100000</value>
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</param>
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<param name="RATE_I_MAX">
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<value>0.100000</value>
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</param>
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<param name="RATE_D_MIN">
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<value>-0.100000</value>
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</param>
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<param name="RATE_D_MAX">
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<value>0.100000</value>
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</param>
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<param name="R_CMD_LIM">
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<value>3.141593</value>
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</param>
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<param name="DAMP_P">
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<value>0.200000</value>
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</param>
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<param name="ROLL_SCALE">
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<value>350.000000</value>
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</param>
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<param name="PITCH_SCALE">
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<value>350.000000</value>
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</param>
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<param name="YAW_SCALE">
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<value>300.000000</value>
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</param>
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<param name="THROTTLE_SCALE">
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<value>300.000000</value>
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</param>
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<param name="MOTOR1_BIAS">
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<value>50.000000</value>
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</param>
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<param name="MOTOR2_BIAS">
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<value>50.000000</value>
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</param>
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<param name="MOTOR3_BIAS">
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<value>50.000000</value>
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</param>
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<param name="MOTOR4_BIAS">
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<value>50.000000</value>
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</param>
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<param name="MOTOR5_BIAS">
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<value>-35.000000</value>
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</param>
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<param name="MOTOR6_BIAS">
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<value>-35.000000</value>
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</param>
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</group>
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<group name="CALIB">
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<param name="GYRO0_XOFF">
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<value>-0.002097</value>
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</param>
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<param name="GYRO0_YOFF">
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<value>-0.001282</value>
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</param>
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<param name="GYRO0_ZOFF">
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<value>0.002703</value>
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</param>
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<param name="ACC0_XOFF">
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<value>0.020029</value>
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</param>
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<param name="ACC0_YOFF">
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<value>0.011842</value>
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</param>
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<param name="ACC0_ZOFF">
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<value>0.012659</value>
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</param>
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<param name="ACC0_XXSCALE">
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<value>0.996476</value>
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</param>
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<param name="ACC0_YYSCALE">
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<value>1.000000</value>
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</param>
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<param name="ACC0_ZZSCALE">
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<value>0.999465</value>
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</param>
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<param name="ACC0_XYSCALE">
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<value>0.000000</value>
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</param>
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<param name="ACC0_XZSCALE">
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<value>0.000000</value>
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</param>
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<param name="ACC0_YZSCALE">
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<value>0.000000</value>
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</param>
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<param name="MAG0_XOFF">
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<value>-0.250990</value>
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</param>
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<param name="MAG0_YOFF">
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<value>-0.491559</value>
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</param>
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<param name="MAG0_ZOFF">
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<value>-0.218301</value>
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</param>
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<param name="MAG0_XXSCALE">
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<value>0.926944</value>
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</param>
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<param name="MAG0_YYSCALE">
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<value>0.937429</value>
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</param>
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<param name="MAG0_ZZSCALE">
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<value>0.735439</value>
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</param>
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<param name="MAG0_XYSCALE">
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<value>0.062346</value>
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</param>
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<param name="MAG0_XZSCALE">
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<value>-0.004955</value>
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</param>
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<param name="MAG0_YZSCALE">
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<value>-0.045516</value>
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</param>
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<param name="GYRO1_XOFF">
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<value>0.000000</value>
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</param>
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<param name="GYRO1_YOFF">
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<value>0.000000</value>
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</param>
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<param name="GYRO1_ZOFF">
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<value>0.000000</value>
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</param>
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<param name="ACC1_XOFF">
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<value>0.000000</value>
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</param>
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<param name="ACC1_YOFF">
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<value>0.000000</value>
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</param>
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<param name="ACC1_ZOFF">
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<value>0.000000</value>
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</param>
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<param name="ACC1_XXSCALE">
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<value>1.000000</value>
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</param>
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<param name="ACC1_YYSCALE">
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<value>1.000000</value>
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</param>
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<param name="ACC1_ZZSCALE">
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<value>1.000000</value>
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</param>
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<param name="ACC1_XYSCALE">
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<value>0.000000</value>
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</param>
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<param name="ACC1_XZSCALE">
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<value>0.000000</value>
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</param>
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<param name="ACC1_YZSCALE">
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<value>0.000000</value>
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</param>
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<param name="MAG1_XOFF">
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<value>0.000000</value>
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</param>
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<param name="MAG1_YOFF">
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<value>0.000000</value>
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</param>
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<param name="MAG1_ZOFF">
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<value>0.000000</value>
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</param>
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<param name="MAG1_XXSCALE">
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<value>1.000000</value>
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</param>
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<param name="MAG1_YYSCALE">
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<value>1.000000</value>
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</param>
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<param name="MAG1_ZZSCALE">
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<value>1.000000</value>
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</param>
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<param name="MAG1_XYSCALE">
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<value>0.000000</value>
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</param>
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<param name="MAG1_XZSCALE">
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<value>0.000000</value>
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</param>
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<param name="MAG1_YZSCALE">
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<value>0.000000</value>
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</param>
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<param name="LEVEL_XOFF">
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<value>0.029182</value>
|
||
|
|
</param>
|
||
|
|
<param name="LEVEL_YOFF">
|
||
|
|
<value>0.009310</value>
|
||
|
|
</param>
|
||
|
|
<param name="LEVEL_ZOFF">
|
||
|
|
<value>0.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="DIFF_PRESS_OFFSET">
|
||
|
|
<value>0.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="BAT_V_DIV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="BAT_N_CELLS">
|
||
|
|
<value>0</value>
|
||
|
|
</param>
|
||
|
|
<param name="SENS_BOARD_ROT">
|
||
|
|
<value>0</value>
|
||
|
|
</param>
|
||
|
|
</group>
|
||
|
|
<group name="RC">
|
||
|
|
<param name="RC1_MAX">
|
||
|
|
<value>2000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC1_MIN">
|
||
|
|
<value>1000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC1_REV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC1_TRIM">
|
||
|
|
<value>1500.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC2_MAX">
|
||
|
|
<value>2000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC2_MIN">
|
||
|
|
<value>1000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC2_REV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC2_TRIM">
|
||
|
|
<value>1500.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC3_MAX">
|
||
|
|
<value>2000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC3_MIN">
|
||
|
|
<value>1000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC3_REV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC3_TRIM">
|
||
|
|
<value>1500.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC4_MAX">
|
||
|
|
<value>2000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC4_MIN">
|
||
|
|
<value>1000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC4_REV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC4_TRIM">
|
||
|
|
<value>1500.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC5_MAX">
|
||
|
|
<value>2000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC5_MIN">
|
||
|
|
<value>1000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC5_REV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC5_TRIM">
|
||
|
|
<value>1500.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC6_MAX">
|
||
|
|
<value>2000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC6_MIN">
|
||
|
|
<value>1000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC6_REV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC6_TRIM">
|
||
|
|
<value>1500.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC7_MAX">
|
||
|
|
<value>2000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC7_MIN">
|
||
|
|
<value>1000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC7_REV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC7_TRIM">
|
||
|
|
<value>1500.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC8_MAX">
|
||
|
|
<value>2000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC8_MIN">
|
||
|
|
<value>1000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC8_REV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC8_TRIM">
|
||
|
|
<value>1500.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC9_MAX">
|
||
|
|
<value>2000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC9_MIN">
|
||
|
|
<value>1000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC9_REV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC9_TRIM">
|
||
|
|
<value>1500.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC10_MAX">
|
||
|
|
<value>2000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC10_MIN">
|
||
|
|
<value>1000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC10_REV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC10_TRIM">
|
||
|
|
<value>1500.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC11_MAX">
|
||
|
|
<value>2000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC11_MIN">
|
||
|
|
<value>1000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC11_REV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC11_TRIM">
|
||
|
|
<value>1500.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC12_MAX">
|
||
|
|
<value>2000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC12_MIN">
|
||
|
|
<value>1000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC12_REV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC12_TRIM">
|
||
|
|
<value>1500.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC13_MAX">
|
||
|
|
<value>2000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC13_MIN">
|
||
|
|
<value>1000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC13_REV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC13_TRIM">
|
||
|
|
<value>1500.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC14_MAX">
|
||
|
|
<value>2000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC14_MIN">
|
||
|
|
<value>1000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC14_REV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC14_TRIM">
|
||
|
|
<value>1500.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC15_MAX">
|
||
|
|
<value>2000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC15_MIN">
|
||
|
|
<value>1000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC15_REV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC15_TRIM">
|
||
|
|
<value>1500.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC16_MAX">
|
||
|
|
<value>2000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC16_MIN">
|
||
|
|
<value>1000.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC16_REV">
|
||
|
|
<value>1.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC16_TRIM">
|
||
|
|
<value>1500.000000</value>
|
||
|
|
</param>
|
||
|
|
<param name="RC_CHAN_CNT">
|
||
|
|
<value>0</value>
|
||
|
|
</param>
|
||
|
|
</group>
|
||
|
|
<group name="SYSTEM">
|
||
|
|
<param name="MAV_SYS_ID">
|
||
|
|
<value>1</value>
|
||
|
|
</param>
|
||
|
|
<param name="MAV_COMP_ID">
|
||
|
|
<value>1</value>
|
||
|
|
</param>
|
||
|
|
<param name="MLOG_MODE">
|
||
|
|
<value>3</value>
|
||
|
|
</param>
|
||
|
|
<param name="LOOP_MISSION">
|
||
|
|
<value>0</value>
|
||
|
|
</param>
|
||
|
|
<param name="OBC_HEARTBEAT">
|
||
|
|
<value>0</value>
|
||
|
|
</param>
|
||
|
|
</group>
|
||
|
|
</param_list>
|