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vt-xr-app.xml
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vt-xr-app.xml
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<?xml version="1.0" encoding="UTF-8"?>
<APPConfiguration>
<ConfigVersion>2</ConfigVersion>
<controller_id>1</controller_id>
<timeout_msec>1000</timeout_msec>
<timeout_brake_current>0</timeout_brake_current>
<can_status_rate_1>50</can_status_rate_1>
<can_status_rate_2>5</can_status_rate_2>
<can_status_msgs_r1>15</can_status_msgs_r1>
<can_status_msgs_r2>0</can_status_msgs_r2>
<can_baud_rate>2</can_baud_rate>
<pairing_done>0</pairing_done>
<permanent_uart_enabled>1</permanent_uart_enabled>
<shutdown_mode>7</shutdown_mode>
<can_mode>0</can_mode>
<uavcan_esc_index>0</uavcan_esc_index>
<uavcan_raw_mode>0</uavcan_raw_mode>
<uavcan_raw_rpm_max>50000</uavcan_raw_rpm_max>
<uavcan_status_current_mode>0</uavcan_status_current_mode>
<servo_out_enable>0</servo_out_enable>
<kill_sw_mode>0</kill_sw_mode>
<app_to_use>3</app_to_use>
<app_ppm_conf.ctrl_type>0</app_ppm_conf.ctrl_type>
<app_ppm_conf.pid_max_erpm>15000</app_ppm_conf.pid_max_erpm>
<app_ppm_conf.hyst>0.15</app_ppm_conf.hyst>
<app_ppm_conf.pulse_start>1</app_ppm_conf.pulse_start>
<app_ppm_conf.pulse_end>2</app_ppm_conf.pulse_end>
<app_ppm_conf.pulse_center>1.5</app_ppm_conf.pulse_center>
<app_ppm_conf.median_filter>1</app_ppm_conf.median_filter>
<app_ppm_conf.safe_start>1</app_ppm_conf.safe_start>
<app_ppm_conf.throttle_exp>0</app_ppm_conf.throttle_exp>
<app_ppm_conf.throttle_exp_brake>0</app_ppm_conf.throttle_exp_brake>
<app_ppm_conf.throttle_exp_mode>2</app_ppm_conf.throttle_exp_mode>
<app_ppm_conf.ramp_time_pos>0.4</app_ppm_conf.ramp_time_pos>
<app_ppm_conf.ramp_time_neg>0.2</app_ppm_conf.ramp_time_neg>
<app_ppm_conf.multi_esc>1</app_ppm_conf.multi_esc>
<app_ppm_conf.tc>0</app_ppm_conf.tc>
<app_ppm_conf.tc_max_diff>3000</app_ppm_conf.tc_max_diff>
<app_ppm_conf.max_erpm_for_dir>4000</app_ppm_conf.max_erpm_for_dir>
<app_ppm_conf.smart_rev_max_duty>0.07</app_ppm_conf.smart_rev_max_duty>
<app_ppm_conf.smart_rev_ramp_time>3</app_ppm_conf.smart_rev_ramp_time>
<app_adc_conf.ctrl_type>0</app_adc_conf.ctrl_type>
<app_adc_conf.hyst>0.15</app_adc_conf.hyst>
<app_adc_conf.voltage_start>0.9</app_adc_conf.voltage_start>
<app_adc_conf.voltage_end>3</app_adc_conf.voltage_end>
<app_adc_conf.voltage_min>0</app_adc_conf.voltage_min>
<app_adc_conf.voltage_max>3.5</app_adc_conf.voltage_max>
<app_adc_conf.voltage_center>2</app_adc_conf.voltage_center>
<app_adc_conf.voltage2_start>0.9</app_adc_conf.voltage2_start>
<app_adc_conf.voltage2_end>3</app_adc_conf.voltage2_end>
<app_adc_conf.use_filter>1</app_adc_conf.use_filter>
<app_adc_conf.safe_start>1</app_adc_conf.safe_start>
<app_adc_conf.buttons>0</app_adc_conf.buttons>
<app_adc_conf.voltage_inverted>0</app_adc_conf.voltage_inverted>
<app_adc_conf.voltage2_inverted>0</app_adc_conf.voltage2_inverted>
<app_adc_conf.throttle_exp>0</app_adc_conf.throttle_exp>
<app_adc_conf.throttle_exp_brake>0</app_adc_conf.throttle_exp_brake>
<app_adc_conf.throttle_exp_mode>2</app_adc_conf.throttle_exp_mode>
<app_adc_conf.ramp_time_pos>0.3</app_adc_conf.ramp_time_pos>
<app_adc_conf.ramp_time_neg>0.1</app_adc_conf.ramp_time_neg>
<app_adc_conf.multi_esc>1</app_adc_conf.multi_esc>
<app_adc_conf.tc>0</app_adc_conf.tc>
<app_adc_conf.tc_max_diff>3000</app_adc_conf.tc_max_diff>
<app_adc_conf.update_rate_hz>500</app_adc_conf.update_rate_hz>
<app_uart_baudrate>115200</app_uart_baudrate>
<app_chuk_conf.ctrl_type>0</app_chuk_conf.ctrl_type>
<app_chuk_conf.hyst>0.15</app_chuk_conf.hyst>
<app_chuk_conf.ramp_time_pos>0.4</app_chuk_conf.ramp_time_pos>
<app_chuk_conf.ramp_time_neg>0.2</app_chuk_conf.ramp_time_neg>
<app_chuk_conf.stick_erpm_per_s_in_cc>3000</app_chuk_conf.stick_erpm_per_s_in_cc>
<app_chuk_conf.throttle_exp>0</app_chuk_conf.throttle_exp>
<app_chuk_conf.throttle_exp_brake>0</app_chuk_conf.throttle_exp_brake>
<app_chuk_conf.throttle_exp_mode>2</app_chuk_conf.throttle_exp_mode>
<app_chuk_conf.multi_esc>1</app_chuk_conf.multi_esc>
<app_chuk_conf.tc>0</app_chuk_conf.tc>
<app_chuk_conf.tc_max_diff>3000</app_chuk_conf.tc_max_diff>
<app_chuk_conf.use_smart_rev>1</app_chuk_conf.use_smart_rev>
<app_chuk_conf.smart_rev_max_duty>0.07</app_chuk_conf.smart_rev_max_duty>
<app_chuk_conf.smart_rev_ramp_time>3</app_chuk_conf.smart_rev_ramp_time>
<app_nrf_conf.speed>1</app_nrf_conf.speed>
<app_nrf_conf.power>3</app_nrf_conf.power>
<app_nrf_conf.crc_type>1</app_nrf_conf.crc_type>
<app_nrf_conf.retry_delay>0</app_nrf_conf.retry_delay>
<app_nrf_conf.retries>3</app_nrf_conf.retries>
<app_nrf_conf.channel>76</app_nrf_conf.channel>
<app_nrf_conf.address__0>198</app_nrf_conf.address__0>
<app_nrf_conf.address__1>199</app_nrf_conf.address__1>
<app_nrf_conf.address__2>0</app_nrf_conf.address__2>
<app_nrf_conf.send_crc_ack>1</app_nrf_conf.send_crc_ack>
<app_balance_conf.pid_mode>0</app_balance_conf.pid_mode>
<app_balance_conf.kp>0</app_balance_conf.kp>
<app_balance_conf.ki>0</app_balance_conf.ki>
<app_balance_conf.kd>0</app_balance_conf.kd>
<app_balance_conf.kp2>0</app_balance_conf.kp2>
<app_balance_conf.ki2>0</app_balance_conf.ki2>
<app_balance_conf.kd2>0</app_balance_conf.kd2>
<app_balance_conf.hertz>1000</app_balance_conf.hertz>
<app_balance_conf.loop_time_filter>0</app_balance_conf.loop_time_filter>
<app_balance_conf.fault_pitch>20</app_balance_conf.fault_pitch>
<app_balance_conf.fault_roll>45</app_balance_conf.fault_roll>
<app_balance_conf.fault_duty>0.9</app_balance_conf.fault_duty>
<app_balance_conf.fault_adc1>0</app_balance_conf.fault_adc1>
<app_balance_conf.fault_adc2>0</app_balance_conf.fault_adc2>
<app_balance_conf.fault_delay_pitch>0</app_balance_conf.fault_delay_pitch>
<app_balance_conf.fault_delay_roll>0</app_balance_conf.fault_delay_roll>
<app_balance_conf.fault_delay_duty>0</app_balance_conf.fault_delay_duty>
<app_balance_conf.fault_delay_switch_half>0</app_balance_conf.fault_delay_switch_half>
<app_balance_conf.fault_delay_switch_full>0</app_balance_conf.fault_delay_switch_full>
<app_balance_conf.fault_adc_half_erpm>1000</app_balance_conf.fault_adc_half_erpm>
<app_balance_conf.fault_is_dual_switch>0</app_balance_conf.fault_is_dual_switch>
<app_balance_conf.tiltback_duty_angle>10</app_balance_conf.tiltback_duty_angle>
<app_balance_conf.tiltback_duty_speed>3</app_balance_conf.tiltback_duty_speed>
<app_balance_conf.tiltback_duty>0.75</app_balance_conf.tiltback_duty>
<app_balance_conf.tiltback_hv_angle>10</app_balance_conf.tiltback_hv_angle>
<app_balance_conf.tiltback_hv_speed>3</app_balance_conf.tiltback_hv_speed>
<app_balance_conf.tiltback_hv>200</app_balance_conf.tiltback_hv>
<app_balance_conf.tiltback_lv_angle>10</app_balance_conf.tiltback_lv_angle>
<app_balance_conf.tiltback_lv_speed>3</app_balance_conf.tiltback_lv_speed>
<app_balance_conf.tiltback_lv>0</app_balance_conf.tiltback_lv>
<app_balance_conf.tiltback_return_speed>2</app_balance_conf.tiltback_return_speed>
<app_balance_conf.tiltback_constant>0</app_balance_conf.tiltback_constant>
<app_balance_conf.tiltback_constant_erpm>500</app_balance_conf.tiltback_constant_erpm>
<app_balance_conf.tiltback_variable>0</app_balance_conf.tiltback_variable>
<app_balance_conf.tiltback_variable_max>0</app_balance_conf.tiltback_variable_max>
<app_balance_conf.noseangling_speed>3</app_balance_conf.noseangling_speed>
<app_balance_conf.startup_pitch_tolerance>20</app_balance_conf.startup_pitch_tolerance>
<app_balance_conf.startup_roll_tolerance>8</app_balance_conf.startup_roll_tolerance>
<app_balance_conf.startup_speed>30</app_balance_conf.startup_speed>
<app_balance_conf.deadzone>0</app_balance_conf.deadzone>
<app_balance_conf.multi_esc>0</app_balance_conf.multi_esc>
<app_balance_conf.yaw_kp>0</app_balance_conf.yaw_kp>
<app_balance_conf.yaw_ki>0</app_balance_conf.yaw_ki>
<app_balance_conf.yaw_kd>0</app_balance_conf.yaw_kd>
<app_balance_conf.roll_steer_kp>0</app_balance_conf.roll_steer_kp>
<app_balance_conf.roll_steer_erpm_kp>0</app_balance_conf.roll_steer_erpm_kp>
<app_balance_conf.brake_current>0</app_balance_conf.brake_current>
<app_balance_conf.brake_timeout>10</app_balance_conf.brake_timeout>
<app_balance_conf.yaw_current_clamp>0</app_balance_conf.yaw_current_clamp>
<app_balance_conf.ki_limit>0</app_balance_conf.ki_limit>
<app_balance_conf.kd_pt1_lowpass_frequency>0</app_balance_conf.kd_pt1_lowpass_frequency>
<app_balance_conf.kd_pt1_highpass_frequency>0</app_balance_conf.kd_pt1_highpass_frequency>
<app_balance_conf.booster_angle>8</app_balance_conf.booster_angle>
<app_balance_conf.booster_ramp>1</app_balance_conf.booster_ramp>
<app_balance_conf.booster_current>0</app_balance_conf.booster_current>
<app_balance_conf.torquetilt_start_current>10</app_balance_conf.torquetilt_start_current>
<app_balance_conf.torquetilt_angle_limit>5</app_balance_conf.torquetilt_angle_limit>
<app_balance_conf.torquetilt_on_speed>5</app_balance_conf.torquetilt_on_speed>
<app_balance_conf.torquetilt_off_speed>3</app_balance_conf.torquetilt_off_speed>
<app_balance_conf.torquetilt_strength>0</app_balance_conf.torquetilt_strength>
<app_balance_conf.torquetilt_filter>2</app_balance_conf.torquetilt_filter>
<app_balance_conf.turntilt_strength>0</app_balance_conf.turntilt_strength>
<app_balance_conf.turntilt_angle_limit>5</app_balance_conf.turntilt_angle_limit>
<app_balance_conf.turntilt_start_angle>1</app_balance_conf.turntilt_start_angle>
<app_balance_conf.turntilt_start_erpm>100</app_balance_conf.turntilt_start_erpm>
<app_balance_conf.turntilt_speed>5</app_balance_conf.turntilt_speed>
<app_balance_conf.turntilt_erpm_boost>20</app_balance_conf.turntilt_erpm_boost>
<app_balance_conf.turntilt_erpm_boost_end>20000</app_balance_conf.turntilt_erpm_boost_end>
<app_pas_conf.ctrl_type>0</app_pas_conf.ctrl_type>
<app_pas_conf.sensor_type>0</app_pas_conf.sensor_type>
<app_pas_conf.pedal_rpm_start>10</app_pas_conf.pedal_rpm_start>
<app_pas_conf.pedal_rpm_end>180</app_pas_conf.pedal_rpm_end>
<app_pas_conf.invert_pedal_direction>0</app_pas_conf.invert_pedal_direction>
<app_pas_conf.magnets>24</app_pas_conf.magnets>
<app_pas_conf.use_filter>1</app_pas_conf.use_filter>
<app_pas_conf.current_scaling>0.1</app_pas_conf.current_scaling>
<app_pas_conf.ramp_time_pos>0.6</app_pas_conf.ramp_time_pos>
<app_pas_conf.ramp_time_neg>0.3</app_pas_conf.ramp_time_neg>
<app_pas_conf.update_rate_hz>500</app_pas_conf.update_rate_hz>
<imu_conf.type>1</imu_conf.type>
<imu_conf.mode>1</imu_conf.mode>
<imu_conf.filter>1</imu_conf.filter>
<imu_conf.accel_lowpass_filter_x>0</imu_conf.accel_lowpass_filter_x>
<imu_conf.accel_lowpass_filter_y>0</imu_conf.accel_lowpass_filter_y>
<imu_conf.accel_lowpass_filter_z>1</imu_conf.accel_lowpass_filter_z>
<imu_conf.gyro_lowpass_filter>0</imu_conf.gyro_lowpass_filter>
<imu_conf.sample_rate_hz>800</imu_conf.sample_rate_hz>
<imu_conf.use_magnetometer>1</imu_conf.use_magnetometer>
<imu_conf.accel_confidence_decay>0.1</imu_conf.accel_confidence_decay>
<imu_conf.mahony_kp>1.9</imu_conf.mahony_kp>
<imu_conf.mahony_ki>0</imu_conf.mahony_ki>
<imu_conf.madgwick_beta>0.1</imu_conf.madgwick_beta>
<imu_conf.rot_roll>176.744</imu_conf.rot_roll>
<imu_conf.rot_pitch>0.497056</imu_conf.rot_pitch>
<imu_conf.rot_yaw>-90</imu_conf.rot_yaw>
<imu_conf.accel_offsets__0>0.0210379</imu_conf.accel_offsets__0>
<imu_conf.accel_offsets__1>0.00728538</imu_conf.accel_offsets__1>
<imu_conf.accel_offsets__2>0.00364231</imu_conf.accel_offsets__2>
<imu_conf.gyro_offsets__0>0.588186</imu_conf.gyro_offsets__0>
<imu_conf.gyro_offsets__1>0.686541</imu_conf.gyro_offsets__1>
<imu_conf.gyro_offsets__2>0.381134</imu_conf.gyro_offsets__2>
</APPConfiguration>