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<xml >
<object name= "FlightModeSettings" singleinstance= "true" settings= "true" category= "Control" >
<description > Settings to control arming and flight mode</description>
<field name= "Arming" units= "" type= "enum" elements= "1" options= "Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right,Accessory 0,Accessory 1,Accessory 2" defaultvalue= "Always Disarmed" />
<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
<field name= "Stabilization1Settings" units= "" type= "enum"
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elementnames="Roll,Pitch,Yaw,Thrust"
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options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
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defaultvalue="Attitude,Attitude,AxisLock,Manual"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
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/>
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<field name= "Stabilization2Settings" units= "" type= "enum"
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elementnames="Roll,Pitch,Yaw,Thrust"
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options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
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defaultvalue="Attitude,Attitude,Rate,Manual"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
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/>
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<field name= "Stabilization3Settings" units= "" type= "enum"
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elementnames="Roll,Pitch,Yaw,Thrust"
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options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
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defaultvalue="Rate,Rate,Rate,Manual"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
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/>
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<field name= "Stabilization4Settings" units= "" type= "enum"
elementnames="Roll,Pitch,Yaw,Thrust"
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options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
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defaultvalue="Attitude,Attitude,AxisLock,CruiseControl"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
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/>
<field name= "Stabilization5Settings" units= "" type= "enum"
elementnames="Roll,Pitch,Yaw,Thrust"
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options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
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defaultvalue="Attitude,Attitude,Rate,CruiseControl"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
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/>
<field name= "Stabilization6Settings" units= "" type= "enum"
elementnames="Roll,Pitch,Yaw,Thrust"
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options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
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defaultvalue="Rate,Rate,Rate,Manual"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
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/>
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<!-- Note these options values should be identical to those defined in FlightMode -->
<!-- Currently only some modes are enabled for UI using limits attribute per board. Update when more modes will be operational -->
<field name= "FlightModePosition"
units=""
type="enum"
elements="6"
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options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,VelocityRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff"
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defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6"
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limits="%NE:POI:AutoCruise; \
%NE:POI:AutoCruise; \
%NE:POI:AutoCruise; \
%NE:POI:AutoCruise; \
%NE:POI:AutoCruise; \
%NE:POI:AutoCruise;" />
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<field name= "AlwaysStabilizeWhenArmed" units= "" type= "enum" elements= "1" options= "FALSE,TRUE" defaultvalue= "FALSE" description= "For Multirotors. Always stabilize no matter the throttle setting when vehicle is armed. Does not work when vehicle is set to Always Armed." />
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<field name= "MotorScalingMode" units= "" type= "enum" elements= "1" options= "NoScaling,AddAndSubtract,ElevateAndCompress" defaultvalue= "ElevateAndCompress" description= "Function to use to scale motors when the motors want to go beyond the end points.one motor wants to go beyond its end points." />
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<field name= "ArmedTimeout" units= "ms" type= "uint16" elements= "1" defaultvalue= "30000" />
<field name= "ArmingSequenceTime" units= "ms" type= "uint16" elements= "1" defaultvalue= "1000" />
<field name= "DisarmingSequenceTime" units= "ms" type= "uint16" elements= "1" defaultvalue= "1000" />
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<field name= "DisableSanityChecks" units= "" type= "enum" elements= "1" options= "FALSE,TRUE" defaultvalue= "FALSE" />
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<field name= "ReturnToBaseAltitudeOffset" units= "m" type= "float" elements= "1" defaultvalue= "10" />
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<field name= "ReturnToBaseNextCommand" units= "" type= "enum" elements= "1" options= "Hold,Land" defaultvalue= "Hold" />
<field name= "LandingVelocity" units= "m" type= "float" elements= "1" defaultvalue= "0.6" />
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<field name= "AutoTakeOffVelocity" units= "m" type= "float" elements= "1" defaultvalue= "0.6" />
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<field name= "AutoTakeOffHeight" units= "m" type= "float" elements= "1" defaultvalue= "2.5" description= "height in meters above arming altitude to climb to during autotakeoff" />
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<field name= "PositionHoldOffset" units= "m" type= "float" elementnames= "Horizontal,Vertical" defaultvalue= "30,15" description= "stick sensitivity for position roam modes" />
<field name= "VarioControlLowPassAlpha" units= "" type= "float" elements= "1" defaultvalue= "0.98" description= "stick low pass filter for position roam modes" />
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<access gcs= "readwrite" flight= "readwrite" />
<telemetrygcs acked= "true" updatemode= "onchange" period= "0" />
<telemetryflight acked= "true" updatemode= "onchange" period= "0" />
<logging updatemode= "manual" period= "0" />
</object>
</xml>