rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-02 10:24:11 +01:00
Code Issues Releases Activity

Manual control: Changed 'Position' stabilization mode to 'Attitude'

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1944 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
les 2010-10-11 17:58:11 +00:00 committed by les
parent 1f6f5fe674
commit 6d6ec37474
12 changed files with 33 additions and 33 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
flight/OpenPilot/Modules/ManualControl/manualcontrol.c
View File

@ -175,8 +175,8 @@ static void manualControlTask(void *parameters)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE;
else if(settings.Pos1StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_RATE)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE;
else if(settings.Pos1StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_POSITION)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION;
else if(settings.Pos1StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_ATTITUDE)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE;
}
if(settings.Pos1FlightMode == MANUALCONTROLSETTINGS_POS1FLIGHTMODE_MANUAL)
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL;
@ -190,8 +190,8 @@ static void manualControlTask(void *parameters)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE;
else if(settings.Pos3StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_RATE)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE;
else if(settings.Pos3StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_POSITION)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION;
else if(settings.Pos3StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_ATTITUDE)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE;
}
if(settings.Pos3FlightMode == MANUALCONTROLSETTINGS_POS3FLIGHTMODE_MANUAL)
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL;
@ -205,8 +205,8 @@ static void manualControlTask(void *parameters)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE;
else if(settings.Pos2StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_RATE)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE;
else if(settings.Pos2StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_POSITION)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION;
else if(settings.Pos2StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_ATTITUDE)
cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE;
}
if(settings.Pos2FlightMode == MANUALCONTROLSETTINGS_POS2FLIGHTMODE_MANUAL)
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL;
@ -295,7 +295,7 @@ static void manualControlTask(void *parameters)
attitudeSettings.PitchBias = cmd.Accessory1 * 15;
attitudeSettings.RollBias = cmd.Accessory2 * 15;
AHRSSettingsSet(&attitudeSettings);
}
}
}
}

12
flight/OpenPilot/Modules/Stabilization/stabilization.c
View File

@ -120,7 +120,7 @@ static void stabilizationTask(void* parameters)
ManualControlCommandData manualControl;
SettingsUpdatedCb((UAVObjEvent *) NULL);
// Main task loop
lastSysTime = xTaskGetTickCount();
ZeroPids();
@ -142,7 +142,7 @@ static void stabilizationTask(void* parameters)
AttitudeActualGet(&attitudeActual);
AttitudeRawGet(&attitudeRaw);
SystemSettingsGet(&systemSettings);
float *manualAxis = &manualControl.Roll;
float *attitudeDesiredAxis = &attitudeDesired.Roll;
@ -159,7 +159,7 @@ static void stabilizationTask(void* parameters)
rates[ct] = manualAxis[ct] * settings.ManualRate[ct];
break;
case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION:
case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE:
rates[ct] = ApplyPid(&pids[PID_ROLL + ct], attitudeDesiredAxis[ct], attitudeActualAxis[ct], 1);
break;
}
@ -184,7 +184,7 @@ static void stabilizationTask(void* parameters)
switch(manualControl.StabilizationSettings[ct])
{
case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE:
case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION:
case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE:
{
float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rates[ct], attitudeRaw.gyros_filtered[ct], 0);
actuatorDesiredAxis[ct] = bound(command);
@ -193,10 +193,10 @@ static void stabilizationTask(void* parameters)
}
}
}
// Save dT
actuatorDesired.UpdateTime = dT * 1000;
if(manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL)
{
shouldUpdate = 0;

2
flight/OpenPilot/UAVObjects/inc/manualcontrolcommand.h
View File

@ -102,7 +102,7 @@ typedef enum { MANUALCONTROLCOMMAND_ARMED_FALSE=0, MANUALCONTROLCOMMAND_ARMED_TR
typedef enum { MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL=0, MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED=1, MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO=2 } ManualControlCommandFlightModeOptions;
// Field StabilizationSettings information
/* Enumeration options for field StabilizationSettings */
typedef enum { MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE=0, MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE=1, MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION=2 } ManualControlCommandStabilizationSettingsOptions;
typedef enum { MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE=0, MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE=1, MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE=2 } ManualControlCommandStabilizationSettingsOptions;
/* Array element names for field StabilizationSettings */
typedef enum { MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ROLL=0, MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_PITCH=1, MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_YAW=2 } ManualControlCommandStabilizationSettingsElem;
/* Number of elements for field StabilizationSettings */

6
flight/OpenPilot/UAVObjects/inc/manualcontrolsettings.h
View File

@ -122,21 +122,21 @@ typedef enum { MANUALCONTROLSETTINGS_ACCESSORY2_CHANNEL0=0, MANUALCONTROLSETTING
typedef enum { MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL0=0, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL1=1, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL2=2, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL3=3, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL4=4, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL5=5, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL6=6, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL7=7, MANUALCONTROLSETTINGS_ACCESSORY3_NONE=8 } ManualControlSettingsAccessory3Options;
// Field Pos1StabilizationSettings information
/* Enumeration options for field Pos1StabilizationSettings */
typedef enum { MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_NONE=0, MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_RATE=1, MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_POSITION=2 } ManualControlSettingsPos1StabilizationSettingsOptions;
typedef enum { MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_NONE=0, MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_RATE=1, MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_ATTITUDE=2 } ManualControlSettingsPos1StabilizationSettingsOptions;
/* Array element names for field Pos1StabilizationSettings */
typedef enum { MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_ROLL=0, MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_PITCH=1, MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_YAW=2 } ManualControlSettingsPos1StabilizationSettingsElem;
/* Number of elements for field Pos1StabilizationSettings */
#define MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_NUMELEM 3
// Field Pos2StabilizationSettings information
/* Enumeration options for field Pos2StabilizationSettings */
typedef enum { MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_NONE=0, MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_RATE=1, MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_POSITION=2 } ManualControlSettingsPos2StabilizationSettingsOptions;
typedef enum { MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_NONE=0, MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_RATE=1, MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_ATTITUDE=2 } ManualControlSettingsPos2StabilizationSettingsOptions;
/* Array element names for field Pos2StabilizationSettings */
typedef enum { MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_ROLL=0, MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_PITCH=1, MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_YAW=2 } ManualControlSettingsPos2StabilizationSettingsElem;
/* Number of elements for field Pos2StabilizationSettings */
#define MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_NUMELEM 3
// Field Pos3StabilizationSettings information
/* Enumeration options for field Pos3StabilizationSettings */
typedef enum { MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_NONE=0, MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_RATE=1, MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_POSITION=2 } ManualControlSettingsPos3StabilizationSettingsOptions;
typedef enum { MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_NONE=0, MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_RATE=1, MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_ATTITUDE=2 } ManualControlSettingsPos3StabilizationSettingsOptions;
/* Array element names for field Pos3StabilizationSettings */
typedef enum { MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_ROLL=0, MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_PITCH=1, MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_YAW=2 } ManualControlSettingsPos3StabilizationSettingsElem;
/* Number of elements for field Pos3StabilizationSettings */

2
ground/src/plugins/uavobjects/manualcontrolcommand.cpp
View File

@ -80,7 +80,7 @@ ManualControlCommand::ManualControlCommand(): UAVDataObject(OBJID, ISSINGLEINST,
QStringList StabilizationSettingsEnumOptions;
StabilizationSettingsEnumOptions.append("None");
StabilizationSettingsEnumOptions.append("Rate");
StabilizationSettingsEnumOptions.append("Position");
StabilizationSettingsEnumOptions.append("Attitude");
fields.append( new UAVObjectField(QString("StabilizationSettings"), QString(""), UAVObjectField::ENUM, StabilizationSettingsElemNames, StabilizationSettingsEnumOptions) );
QStringList Accessory1ElemNames;
Accessory1ElemNames.append("0");

2
ground/src/plugins/uavobjects/manualcontrolcommand.h
View File

@ -74,7 +74,7 @@ public:
typedef enum { FLIGHTMODE_MANUAL=0, FLIGHTMODE_STABILIZED=1, FLIGHTMODE_AUTO=2 } FlightModeOptions;
// Field StabilizationSettings information
/* Enumeration options for field StabilizationSettings */
typedef enum { STABILIZATIONSETTINGS_NONE=0, STABILIZATIONSETTINGS_RATE=1, STABILIZATIONSETTINGS_POSITION=2 } StabilizationSettingsOptions;
typedef enum { STABILIZATIONSETTINGS_NONE=0, STABILIZATIONSETTINGS_RATE=1, STABILIZATIONSETTINGS_ATTITUDE=2 } StabilizationSettingsOptions;
/* Array element names for field StabilizationSettings */
typedef enum { STABILIZATIONSETTINGS_ROLL=0, STABILIZATIONSETTINGS_PITCH=1, STABILIZATIONSETTINGS_YAW=2 } StabilizationSettingsElem;
/* Number of elements for field StabilizationSettings */

2
ground/src/plugins/uavobjects/manualcontrolcommand.py
View File

@ -126,7 +126,7 @@ _fields = [ \
{
'0' : 'None',
'1' : 'Rate',
'2' : 'Position',
'2' : 'Attitude',
}
),
uavobject.UAVObjectField(

6
ground/src/plugins/uavobjects/manualcontrolsettings.cpp
View File

@ -160,7 +160,7 @@ ManualControlSettings::ManualControlSettings(): UAVDataObject(OBJID, ISSINGLEINS
QStringList Pos1StabilizationSettingsEnumOptions;
Pos1StabilizationSettingsEnumOptions.append("None");
Pos1StabilizationSettingsEnumOptions.append("Rate");
Pos1StabilizationSettingsEnumOptions.append("Position");
Pos1StabilizationSettingsEnumOptions.append("Attitude");
fields.append( new UAVObjectField(QString("Pos1StabilizationSettings"), QString(""), UAVObjectField::ENUM, Pos1StabilizationSettingsElemNames, Pos1StabilizationSettingsEnumOptions) );
QStringList Pos2StabilizationSettingsElemNames;
Pos2StabilizationSettingsElemNames.append("Roll");
@ -169,7 +169,7 @@ ManualControlSettings::ManualControlSettings(): UAVDataObject(OBJID, ISSINGLEINS
QStringList Pos2StabilizationSettingsEnumOptions;
Pos2StabilizationSettingsEnumOptions.append("None");
Pos2StabilizationSettingsEnumOptions.append("Rate");
Pos2StabilizationSettingsEnumOptions.append("Position");
Pos2StabilizationSettingsEnumOptions.append("Attitude");
fields.append( new UAVObjectField(QString("Pos2StabilizationSettings"), QString(""), UAVObjectField::ENUM, Pos2StabilizationSettingsElemNames, Pos2StabilizationSettingsEnumOptions) );
QStringList Pos3StabilizationSettingsElemNames;
Pos3StabilizationSettingsElemNames.append("Roll");
@ -178,7 +178,7 @@ ManualControlSettings::ManualControlSettings(): UAVDataObject(OBJID, ISSINGLEINS
QStringList Pos3StabilizationSettingsEnumOptions;
Pos3StabilizationSettingsEnumOptions.append("None");
Pos3StabilizationSettingsEnumOptions.append("Rate");
Pos3StabilizationSettingsEnumOptions.append("Position");
Pos3StabilizationSettingsEnumOptions.append("Attitude");
fields.append( new UAVObjectField(QString("Pos3StabilizationSettings"), QString(""), UAVObjectField::ENUM, Pos3StabilizationSettingsElemNames, Pos3StabilizationSettingsEnumOptions) );
QStringList Pos1FlightModeElemNames;
Pos1FlightModeElemNames.append("0");

6
ground/src/plugins/uavobjects/manualcontrolsettings.h
View File

@ -94,21 +94,21 @@ public:
typedef enum { ACCESSORY3_CHANNEL0=0, ACCESSORY3_CHANNEL1=1, ACCESSORY3_CHANNEL2=2, ACCESSORY3_CHANNEL3=3, ACCESSORY3_CHANNEL4=4, ACCESSORY3_CHANNEL5=5, ACCESSORY3_CHANNEL6=6, ACCESSORY3_CHANNEL7=7, ACCESSORY3_NONE=8 } Accessory3Options;
// Field Pos1StabilizationSettings information
/* Enumeration options for field Pos1StabilizationSettings */
typedef enum { POS1STABILIZATIONSETTINGS_NONE=0, POS1STABILIZATIONSETTINGS_RATE=1, POS1STABILIZATIONSETTINGS_POSITION=2 } Pos1StabilizationSettingsOptions;
typedef enum { POS1STABILIZATIONSETTINGS_NONE=0, POS1STABILIZATIONSETTINGS_RATE=1, POS1STABILIZATIONSETTINGS_ATTITUDE=2 } Pos1StabilizationSettingsOptions;
/* Array element names for field Pos1StabilizationSettings */
typedef enum { POS1STABILIZATIONSETTINGS_ROLL=0, POS1STABILIZATIONSETTINGS_PITCH=1, POS1STABILIZATIONSETTINGS_YAW=2 } Pos1StabilizationSettingsElem;
/* Number of elements for field Pos1StabilizationSettings */
static const quint32 POS1STABILIZATIONSETTINGS_NUMELEM = 3;
// Field Pos2StabilizationSettings information
/* Enumeration options for field Pos2StabilizationSettings */
typedef enum { POS2STABILIZATIONSETTINGS_NONE=0, POS2STABILIZATIONSETTINGS_RATE=1, POS2STABILIZATIONSETTINGS_POSITION=2 } Pos2StabilizationSettingsOptions;
typedef enum { POS2STABILIZATIONSETTINGS_NONE=0, POS2STABILIZATIONSETTINGS_RATE=1, POS2STABILIZATIONSETTINGS_ATTITUDE=2 } Pos2StabilizationSettingsOptions;
/* Array element names for field Pos2StabilizationSettings */
typedef enum { POS2STABILIZATIONSETTINGS_ROLL=0, POS2STABILIZATIONSETTINGS_PITCH=1, POS2STABILIZATIONSETTINGS_YAW=2 } Pos2StabilizationSettingsElem;
/* Number of elements for field Pos2StabilizationSettings */
static const quint32 POS2STABILIZATIONSETTINGS_NUMELEM = 3;
// Field Pos3StabilizationSettings information
/* Enumeration options for field Pos3StabilizationSettings */
typedef enum { POS3STABILIZATIONSETTINGS_NONE=0, POS3STABILIZATIONSETTINGS_RATE=1, POS3STABILIZATIONSETTINGS_POSITION=2 } Pos3StabilizationSettingsOptions;
typedef enum { POS3STABILIZATIONSETTINGS_NONE=0, POS3STABILIZATIONSETTINGS_RATE=1, POS3STABILIZATIONSETTINGS_ATTITUDE=2 } Pos3StabilizationSettingsOptions;
/* Array element names for field Pos3StabilizationSettings */
typedef enum { POS3STABILIZATIONSETTINGS_ROLL=0, POS3STABILIZATIONSETTINGS_PITCH=1, POS3STABILIZATIONSETTINGS_YAW=2 } Pos3StabilizationSettingsElem;
/* Number of elements for field Pos3StabilizationSettings */

6
ground/src/plugins/uavobjects/manualcontrolsettings.py
View File

@ -214,7 +214,7 @@ _fields = [ \
{
'0' : 'None',
'1' : 'Rate',
'2' : 'Position',
'2' : 'Attitude',
}
),
uavobject.UAVObjectField(
@ -229,7 +229,7 @@ _fields = [ \
{
'0' : 'None',
'1' : 'Rate',
'2' : 'Position',
'2' : 'Attitude',
}
),
uavobject.UAVObjectField(
@ -244,7 +244,7 @@ _fields = [ \
{
'0' : 'None',
'1' : 'Rate',
'2' : 'Position',
'2' : 'Attitude',
}
),
uavobject.UAVObjectField(

2
ground/src/shared/uavobjectdefinition/manualcontrolcommand.xml
View File

@ -8,7 +8,7 @@
<field name="Yaw" units="%" type="float" elements="1"/>
<field name="Throttle" units="%" type="float" elements="1"/>
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized,Auto"/>
<field name="StabilizationSettings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Position"/>
<field name="StabilizationSettings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude"/>
<field name="Accessory1" units="%" type="float" elements="1"/>
<field name="Accessory2" units="%" type="float" elements="1"/>
<field name="Accessory3" units="%" type="float" elements="1"/>

6
ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -10,9 +10,9 @@
<field name="Accessory1" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="Accessory2" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="Accessory3" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="Pos1StabilizationSettings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Position" defaultvalue="Position"/>
<field name="Pos2StabilizationSettings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Position" defaultvalue="Position"/>
<field name="Pos3StabilizationSettings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Position" defaultvalue="Position"/>
<field name="Pos1StabilizationSettings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude" defaultvalue="Attitude"/>
<field name="Pos2StabilizationSettings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude" defaultvalue="Attitude"/>
<field name="Pos3StabilizationSettings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude" defaultvalue="Attitude"/>
<field name="Pos1FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized,Auto" defaultvalue="Manual"/>
<field name="Pos2FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized,Auto" defaultvalue="Stabilized"/>
<field name="Pos3FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized,Auto" defaultvalue="Auto"/>