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test-bagatelle.uav
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test-bagatelle.uav
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<uavobjects>
<version>
<hardware revision="1" serial="38003f000f47333039383532" type="92"/>
<firmware date="20160223 14:21" hash="bcfc7d91" tag="next"/>
<gcs date="20160223" hash="bcfc7d91" tag="next"/>
</version>
<settings>
<object id="0x3557036A" name="ActuatorSettings">
<field name="MotorInputOutputCurveFit" values="1,1"/>
<field name="TimerUpdateFreq" values="50,50,50,50,50,50"/>
<field name="ChannelMax" values="2000,2000,2000,2000,2000,2000,2000,2000,2000,2000"/>
<field name="ChannelNeutral" values="1045,1045,1045,1045,1000,1000,1000,1000,1000,1000"/>
<field name="ChannelMin" values="1000,1000,1000,1000,1000,1000,1000,1000,1000,1000"/>
<field name="TimerPwmResolution" values="1MHz,1MHz,1MHz,1MHz,1MHz,1MHz"/>
<field name="ChannelType" values="PWM,PWM,PWM,PWM,PWM,PWM,PWM,PWM,PWM,PWM"/>
<field name="MotorsSpinWhileArmed" values="FALSE"/>
</object>
<object id="0x96E3903C" name="AltitudeHoldSettings">
<field name="PositionKp" values="0.800000012"/>
<field name="VelocityKp" values="0.200000003"/>
<field name="VelocityKi" values="0.25"/>
<field name="AttitudeComp" values="120"/>
<field name="MaxClimbRate" values="40"/>
<field name="MaxDescentRate" values="15"/>
<field name="Expo" values="40"/>
<field name="Deadband" values="30"/>
</object>
<object id="0x9DB8D0A" name="AttitudeSettings">
<field name="MagKp" values="0.0500000007"/>
<field name="MagKi" values="9.99999975e-05"/>
<field name="AccelKp" values="0.0500000007"/>
<field name="AccelKi" values="9.99999975e-05"/>
<field name="AccelTau" values="0.100000001"/>
<field name="VertPositionTau" values="2"/>
<field name="YawBiasRate" values="9.99999997e-07"/>
<field name="BoardRotation" values="-86,-24,-83"/>
<field name="ZeroDuringArming" values="TRUE"/>
<field name="BiasCorrectGyro" values="TRUE"/>
<field name="FilterChoice" values="CCC"/>
</object>
<object id="0xCA32B032" name="HomeLocation">
<field name="Latitude" values="488691947"/>
<field name="Longitude" values="22432148"/>
<field name="Altitude" values="27.5320015"/>
<field name="Be" values="208.169296,1.13071847,432.797607"/>
<field name="GroundTemperature" values="150"/>
<field name="SeaLevelPressure" values="1013"/>
<field name="Set" values="TRUE"/>
</object>
<object id="0xC796F1DE" name="HwSparky2">
<field name="CoordID" values="0"/>
<field name="RcvrPort" values="S.Bus"/>
<field name="MainPort" values="Disabled"/>
<field name="FlexiPort" values="GPS"/>
<field name="USB_HIDPort" values="USBTelemetry"/>
<field name="USB_VCPPort" values="Disabled"/>
<field name="DSMxMode" values="Autodetect"/>
<field name="Radio" values="Disabled"/>
<field name="MaxRfSpeed" values="64000"/>
<field name="MaxRfPower" values="1.25"/>
<field name="RfBand" values="BoardDefault"/>
<field name="MinChannel" values="0"/>
<field name="MaxChannel" values="250"/>
<field name="GyroRange" values="2000"/>
<field name="AccelRange" values="8G"/>
<field name="MPU9250Rate" values="500"/>
<field name="MPU9250GyroLPF" values="184"/>
<field name="MPU9250AccelLPF" values="184"/>
<field name="VTX_Ch" values="BoscamACh1 (5725)"/>
<field name="Magnetometer" values="Internal"/>
<field name="ExtMagOrientation" values="Top0degCW"/>
<field name="AdcDac" values="ADC"/>
</object>
<object id="0x60BC503A" name="INSSettings">
<field name="AccelVar" values="0.00999999978,0.00999999978,0.00999999978"/>
<field name="GyroVar" values="9.99999975e-06,9.99999975e-06,0.00999999978"/>
<field name="MagVar" values="0.100000001,0.100000001,100"/>
<field name="GpsVar" values="0.00100000005,0.00100000005,2"/>
<field name="BaroVar" values="1"/>
<field name="MagBiasNullingRate" values="0"/>
<field name="MinRNAVPDOP" values="4"/>
<field name="ComputeGyroBias" values="FALSE"/>
<field name="MinRNAVSatellites" values="6"/>
</object>
<object id="0xBD3B5F28" name="MWRateSettings">
<field name="RollRatePID" values="0.00400000019,0.00860000029,4.99999987e-05,0.300000012"/>
<field name="PitchRatePID" values="0.00400000019,0.00860000029,4.99999987e-05,0.300000012"/>
<field name="YawRatePID" values="0.00850000046,0.0130000003,0,0.300000012"/>
<field name="DerivativeGamma" values="0"/>
<field name="RollPitchRate" values="0"/>
<field name="YawRate" values="0"/>
</object>
<object id="0xCC4A79BC" name="ManualControlSettings">
<field name="Deadband" values="0"/>
<field name="RssiMax" values="2000"/>
<field name="RssiMin" values="1000"/>
<field name="ChannelMin" values="1696,352,352,352,352,0,800,0,0,352"/>
<field name="ChannelNeutral" values="1669,1025,1040,1029,1024,-1,800,-1,-1,1024"/>
<field name="ChannelMax" values="352,1696,1696,1696,1696,0,800,0,0,1696"/>
<field name="ArmedTimeout" values="0"/>
<field name="ChannelGroups" values="S.Bus,S.Bus,S.Bus,S.Bus,S.Bus,None,S.Bus,None,None,S.Bus"/>
<field name="RssiType" values="None"/>
<field name="RssiChannelNumber" values="0"/>
<field name="ChannelNumber" values="3,1,2,4,6,0,8,0,0,7"/>
<field name="Arming" values="Switch"/>
<field name="ArmTime" values="1000"/>
<field name="DisarmTime" values="2000"/>
<field name="Stabilization1Settings" values="Attitude,Attitude,Rate"/>
<field name="Stabilization2Settings" values="Attitude,Attitude,Rate"/>
<field name="Stabilization3Settings" values="Attitude,Attitude,Rate"/>
<field name="FlightModeNumber" values="3"/>
<field name="FlightModePosition" values="Stabilized1,AltitudeHold,PositionHold,Stabilized1,Stabilized1,Stabilized1"/>
<field name="ArmTimeoutAutonomous" values="DISABLED"/>
</object>
<object id="0x4E485B94" name="MixerSettings">
<field name="ThrottleCurve1" values="0,0.25,0.5,0.75,1"/>
<field name="ThrottleCurve2" values="0,0.25,0.5,0.75,1"/>
<field name="Curve2Source" values="Throttle"/>
<field name="Mixer1Type" values="Motor"/>
<field name="Mixer1Vector" values="127,0,64,64,-63"/>
<field name="Mixer2Type" values="Motor"/>
<field name="Mixer2Vector" values="127,0,-63,64,64"/>
<field name="Mixer3Type" values="Motor"/>
<field name="Mixer3Vector" values="127,0,-63,-63,-63"/>
<field name="Mixer4Type" values="Motor"/>
<field name="Mixer4Vector" values="127,0,64,-63,64"/>
<field name="Mixer5Type" values="Disabled"/>
<field name="Mixer5Vector" values="0,0,0,0,0"/>
<field name="Mixer6Type" values="Disabled"/>
<field name="Mixer6Vector" values="0,0,0,0,0"/>
<field name="Mixer7Type" values="Disabled"/>
<field name="Mixer7Vector" values="0,0,0,0,0"/>
<field name="Mixer8Type" values="Disabled"/>
<field name="Mixer8Vector" values="0,0,0,0,0"/>
<field name="Mixer9Type" values="Disabled"/>
<field name="Mixer9Vector" values="0,0,0,0,0"/>
<field name="Mixer10Type" values="Disabled"/>
<field name="Mixer10Vector" values="0,0,0,0,0"/>
</object>
<object id="0x63F2079A" name="ModuleSettings">
<field name="AdminState" values="Disabled,Enabled,Disabled,Disabled,Disabled,Disabled,Disabled,Disabled,Enabled,Disabled,Enabled,Disabled,Enabled,Disabled,Disabled,Disabled,Disabled,Disabled,Disabled,Disabled,Disabled,Disabled,Disabled,Disabled,Disabled,Disabled"/>
<field name="TelemetrySpeed" values="57600"/>
<field name="GPSSpeed" values="57600"/>
<field name="GPSDataProtocol" values="UBX"/>
<field name="GPSAutoConfigure" values="TRUE"/>
<field name="GPSConstellation" values="GPS"/>
<field name="GPSSBASConstellation" values="All"/>
<field name="GPSDynamicsMode" values="Airborne2G"/>
<field name="ComUsbBridgeSpeed" values="57600"/>
<field name="I2CVMProgramSelect" values="None"/>
<field name="MavlinkSpeed" values="57600"/>
<field name="MSPSpeed" values="115200"/>
<field name="LightTelemetrySpeed" values="2400"/>
<field name="FrskyAccelData" values="Accels"/>
</object>
<object id="0x77A9E8F0" name="PathPlannerSettings">
<field name="PreprogrammedPath" values="NONE"/>
<field name="FlashOperation" values="NONE"/>
</object>
<object id="0xADB3B106" name="SensorSettings">
<field name="AccelBias" values="-0.0695143044,-0.0330581218,-0.281024724"/>
<field name="AccelScale" values="0.99643302,0.998209059,0.99150306"/>
<field name="GyroScale" values="1,1,1"/>
<field name="XGyroTempCoeff" values="-0.0418200009,0,0,0"/>
<field name="YGyroTempCoeff" values="0.620679975,0,0,0"/>
<field name="ZGyroTempCoeff" values="0.463369995,0,0,0"/>
<field name="MagBias" values="6.37793541,-383.253113,-222.876343"/>
<field name="MagScale" values="1.31908786,1.24136651,1.15772915"/>
<field name="ZAccelOffset" values="-0.0239973105"/>
</object>
<object id="0xCD238D1E" name="StabilizationSettings">
<field name="ManualRate" values="150,150,360"/>
<field name="MaximumRate" values="300,300,300"/>
<field name="PoiMaximumRate" values="30,30,30"/>
<field name="RollRatePID" values="0.00179999997,0.00120000006,0,0.300000012"/>
<field name="PitchRatePID" values="0.00179999997,0.00120000006,0,0.300000012"/>
<field name="YawRatePID" values="0.00350000011,0.00350000011,0,0.300000012"/>
<field name="RollPI" values="2.29999995,0,50"/>
<field name="PitchPI" values="2.29999995,0,50"/>
<field name="YawPI" values="2.5,0,50"/>
<field name="VbarSensitivity" values="0.5,0.5,0.5"/>
<field name="VbarRollPID" values="0.00499999989,0.00200000009,0"/>
<field name="VbarPitchPID" values="0.00499999989,0.00200000009,0"/>
<field name="VbarYawPID" values="0.00499999989,0.00200000009,0"/>
<field name="VbarTau" values="0.5"/>
<field name="GyroCutoff" values="55"/>
<field name="DerivativeGamma" values="1"/>
<field name="WeakLevelingKp" values="0.100000001"/>
<field name="CoordinatedFlightYawPI" values="0,0.100000001,0.5"/>
<field name="AcroInsanityFactor" values="40"/>
<field name="RollMax" values="90"/>
<field name="PitchMax" values="90"/>
<field name="YawMax" values="180"/>
<field name="RateExpo" values="0,0,0"/>
<field name="AttitudeExpo" values="0,0,0"/>
<field name="HorizonExpo" values="30,30,30"/>
<field name="RollRateTPA" values="75,0"/>
<field name="PitchRateTPA" values="75,0"/>
<field name="YawRateTPA" values="75,0"/>
<field name="VbarGyroSuppress" values="30"/>
<field name="VbarPiroComp" values="FALSE"/>
<field name="VbarMaxAngle" values="10"/>
<field name="DerivativeCutoff" values="20"/>
<field name="MaxAxisLock" values="15"/>
<field name="MaxAxisLockRate" values="2"/>
<field name="MaxWeakLevelingRate" values="5"/>
<field name="LowThrottleZeroIntegral" values="TRUE"/>
</object>
<object id="0xBA09F7C2" name="StateEstimation">
<field name="AttitudeFilter" values="Complementary"/>
<field name="NavigationFilter" values="INS"/>
</object>
<object id="0x6F3BB6B0" name="SystemSettings">
<field name="AirframeCategorySpecificConfiguration" values="874577920,0,0,0"/>
<field name="AirframeType" values="QuadX"/>
</object>
<object id="0x4E09A748" name="TrimAnglesSettings">
<field name="Roll" values="0"/>
<field name="Pitch" values="0"/>
</object>
<object id="0x368CC898" name="VtolPathFollowerSettings">
<field name="HorizontalPosPI" values="1,0,2"/>
<field name="HorizontalVelPID" values="2.5999999,0.400000006,0,5"/>
<field name="VelocityFeedforward" values="0"/>
<field name="PositionFeedforward" values="0.449999988"/>
<field name="EndpointDeadbandWidth" values="0.449999988"/>
<field name="EndpointDeadbandCenterGain" values="0.300000012"/>
<field name="PathDeadbandWidth" values="1.25"/>
<field name="PathDeadbandCenterGain" values="0.100000001"/>
<field name="MaxRollPitch" values="20"/>
<field name="EndpointRadius" values="2"/>
<field name="WaypointAltitudeTol" values="2"/>
<field name="UpdatePeriod" values="50"/>
<field name="LandingRate" values="0.5"/>
<field name="LoiterBrakingTimeConstant" values="1.25"/>
<field name="LoiterErrorDecayConstant" values="0.330000013"/>
<field name="LoiterLookaheadTimeConstant" values="1.25"/>
<field name="LoiterInitialMaxVel" values="3.5"/>
<field name="LoiterAttitudeFeedthrough" values="15"/>
<field name="ReturnToHomeVel" values="3"/>
<field name="HorizontalVelMax" values="10"/>
<field name="VerticalVelMax" values="2"/>
<field name="ThrottleControl" values="TRUE"/>
<field name="VelocityChangePrediction" values="FALSE"/>
<field name="YawMode" values="AxisLock"/>
<field name="LoiterAllowAltControl" values="TRUE"/>
</object>
</settings>
</uavobjects>