mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-29 14:52:12 +01:00
Merge branch 'next' into revo
Conflicts: shared/uavobjectdefinition/taskinfo.xml
This commit is contained in:
James Cotton
commit
6e114360f4
@ -321,7 +321,10 @@ RESULT PIOS_USB_CDC_SetControlLineState(void)
|
||||
struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
|
||||
|
||||
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
|
||||
PIOS_Assert(valid);
|
||||
if (!valid) {
|
||||
/* No CDC interface is configured */
|
||||
return USB_UNSUPPORT;
|
||||
}
|
||||
|
||||
uint8_t wValue0 = pInformation->USBwValue0;
|
||||
uint8_t wValue1 = pInformation->USBwValue1;
|
||||
@ -338,14 +341,25 @@ static struct usb_cdc_line_coding line_coding = {
|
||||
.bDataBits = 8,
|
||||
};
|
||||
|
||||
RESULT PIOS_USB_CDC_SetLineCoding(void)
|
||||
uint8_t *PIOS_USB_CDC_SetLineCoding(uint16_t Length)
|
||||
{
|
||||
struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
|
||||
|
||||
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
|
||||
PIOS_Assert(valid);
|
||||
if (!valid) {
|
||||
/* No CDC interface is configured */
|
||||
return NULL;
|
||||
}
|
||||
|
||||
return USB_SUCCESS;
|
||||
if (Length == 0) {
|
||||
/* Report the number of bytes we're prepared to consume */
|
||||
pInformation->Ctrl_Info.Usb_wLength = sizeof(line_coding);
|
||||
pInformation->Ctrl_Info.Usb_rLength = sizeof(line_coding);
|
||||
return NULL;
|
||||
} else {
|
||||
/* Give out a pointer to the data struct */
|
||||
return ((uint8_t *) &line_coding);
|
||||
}
|
||||
}
|
||||
|
||||
const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length)
|
||||
@ -353,7 +367,10 @@ const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length)
|
||||
struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
|
||||
|
||||
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
|
||||
PIOS_Assert(valid);
|
||||
if (!valid) {
|
||||
/* No CDC interface is configured */
|
||||
return NULL;
|
||||
}
|
||||
|
||||
if (Length == 0) {
|
||||
pInformation->Ctrl_Info.Usb_wLength = sizeof(line_coding);
|
||||
|
||||
@ -293,13 +293,16 @@ static void PIOS_USBHOOK_Status_Out(void)
|
||||
* Output : None.
|
||||
* Return : USB_UNSUPPORT or USB_SUCCESS.
|
||||
*******************************************************************************/
|
||||
extern uint8_t *PIOS_USB_CDC_SetLineCoding(uint16_t Length);
|
||||
extern const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length);
|
||||
|
||||
static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
|
||||
{
|
||||
const uint8_t *(*CopyRoutine) (uint16_t);
|
||||
uint8_t *(*CopyOutRoutine) (uint16_t);
|
||||
const uint8_t *(*CopyInRoutine) (uint16_t);
|
||||
|
||||
CopyRoutine = NULL;
|
||||
CopyInRoutine = NULL;
|
||||
CopyOutRoutine = NULL;
|
||||
|
||||
switch (Type_Recipient) {
|
||||
case (STANDARD_REQUEST | INTERFACE_RECIPIENT):
|
||||
@ -313,10 +316,10 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
|
||||
case GET_DESCRIPTOR:
|
||||
switch (pInformation->USBwValue1) {
|
||||
case USB_DESC_TYPE_REPORT:
|
||||
CopyRoutine = PIOS_USBHOOK_GetReportDescriptor;
|
||||
CopyInRoutine = PIOS_USBHOOK_GetReportDescriptor;
|
||||
break;
|
||||
case USB_DESC_TYPE_HID:
|
||||
CopyRoutine = PIOS_USBHOOK_GetHIDDescriptor;
|
||||
CopyInRoutine = PIOS_USBHOOK_GetHIDDescriptor;
|
||||
break;
|
||||
}
|
||||
}
|
||||
@ -332,7 +335,7 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
|
||||
#endif
|
||||
switch (RequestNo) {
|
||||
case USB_HID_REQ_GET_PROTOCOL:
|
||||
CopyRoutine = PIOS_USBHOOK_GetProtocolValue;
|
||||
CopyInRoutine = PIOS_USBHOOK_GetProtocolValue;
|
||||
break;
|
||||
}
|
||||
|
||||
@ -340,8 +343,11 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
|
||||
#if defined(PIOS_INCLUDE_USB_CDC)
|
||||
case 0: /* CDC Call Control Interface */
|
||||
switch (RequestNo) {
|
||||
case USB_CDC_REQ_SET_LINE_CODING:
|
||||
CopyOutRoutine = PIOS_USB_CDC_SetLineCoding;
|
||||
break;
|
||||
case USB_CDC_REQ_GET_LINE_CODING:
|
||||
//CopyRoutine = PIOS_USB_CDC_GetLineCoding;
|
||||
CopyInRoutine = PIOS_USB_CDC_GetLineCoding;
|
||||
break;
|
||||
}
|
||||
|
||||
@ -359,13 +365,27 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
|
||||
break;
|
||||
}
|
||||
|
||||
if (CopyRoutine == NULL) {
|
||||
/* No registered copy routine */
|
||||
if ((CopyInRoutine == NULL) && (CopyOutRoutine == NULL)) {
|
||||
return USB_UNSUPPORT;
|
||||
}
|
||||
|
||||
pInformation->Ctrl_Info.CopyDataIn = CopyRoutine;
|
||||
pInformation->Ctrl_Info.Usb_wOffset = 0;
|
||||
(*CopyRoutine) (0);
|
||||
/* Registered copy in AND copy out routine */
|
||||
if ((CopyInRoutine != NULL) && (CopyOutRoutine != NULL)) {
|
||||
/* This should never happen */
|
||||
return USB_UNSUPPORT;
|
||||
}
|
||||
|
||||
if (CopyInRoutine != NULL) {
|
||||
pInformation->Ctrl_Info.CopyDataIn = CopyInRoutine;
|
||||
pInformation->Ctrl_Info.Usb_wOffset = 0;
|
||||
(*CopyInRoutine) (0);
|
||||
} else if (CopyOutRoutine != NULL) {
|
||||
pInformation->Ctrl_Info.CopyDataOut = CopyOutRoutine;
|
||||
pInformation->Ctrl_Info.Usb_rOffset = 0;
|
||||
(*CopyOutRoutine) (0);
|
||||
}
|
||||
|
||||
return USB_SUCCESS;
|
||||
}
|
||||
|
||||
@ -377,7 +397,6 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
|
||||
* Return : USB_UNSUPPORT or USB_SUCCESS.
|
||||
*******************************************************************************/
|
||||
extern RESULT PIOS_USB_CDC_SetControlLineState(void);
|
||||
extern RESULT PIOS_USB_CDC_SetLineCoding(void);
|
||||
|
||||
static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo)
|
||||
{
|
||||
@ -400,9 +419,6 @@ static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo)
|
||||
#if defined(PIOS_INCLUDE_USB_CDC)
|
||||
case 0: /* CDC Call Control Interface */
|
||||
switch (RequestNo) {
|
||||
case USB_CDC_REQ_SET_LINE_CODING:
|
||||
return PIOS_USB_CDC_SetLineCoding();
|
||||
break;
|
||||
case USB_CDC_REQ_SET_CONTROL_LINE_STATE:
|
||||
return PIOS_USB_CDC_SetControlLineState();
|
||||
break;
|
||||
|
||||
@ -267,7 +267,7 @@ enum usb_cdc_requests {
|
||||
USB_CDC_REQ_SET_LINE_CODING = 0x20,
|
||||
USB_CDC_REQ_GET_LINE_CODING = 0x21,
|
||||
|
||||
USB_CDC_REQ_SET_CONTROL_LINE_STATE = 0x23,
|
||||
USB_CDC_REQ_SET_CONTROL_LINE_STATE = 0x22,
|
||||
};
|
||||
|
||||
struct usb_cdc_header_func_desc {
|
||||
|
||||
@ -161,6 +161,9 @@ int main(int argc, char *argv[])
|
||||
QString res = parser->parseXML(xmlstr, filename);
|
||||
|
||||
if (!res.isNull()) {
|
||||
if (!verbose) {
|
||||
cout << "Error in XML file: " << fileinfo.fileName().toStdString() << endl;
|
||||
}
|
||||
cout << "Error parsing " << res.toStdString() << endl;
|
||||
return RETURN_ERR_XML;
|
||||
}
|
||||
|
||||
@ -213,6 +213,9 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
|
||||
qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
|
||||
|
||||
// Make sure that required elements were found
|
||||
if ( !fieldFound )
|
||||
return QString("Object::field element is missing");
|
||||
|
||||
if ( !accessFound )
|
||||
return QString("Object::access element is missing");
|
||||
|
||||
@ -381,11 +384,38 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
|
||||
// Get name attribute
|
||||
QDomNamedNodeMap elemAttributes = childNode.attributes();
|
||||
QDomNode elemAttr = elemAttributes.namedItem("name");
|
||||
if ( elemAttr.isNull() )
|
||||
if (elemAttr.isNull()) {
|
||||
return QString("Object:field:name attribute is missing");
|
||||
}
|
||||
QString name = elemAttr.nodeValue();
|
||||
|
||||
field->name = elemAttr.nodeValue();
|
||||
|
||||
// Check to see is this field is a clone of another
|
||||
// field that has already been declared
|
||||
elemAttr = elemAttributes.namedItem("cloneof");
|
||||
if (!elemAttr.isNull()) {
|
||||
QString parentName = elemAttr.nodeValue();
|
||||
if (!parentName.isEmpty()) {
|
||||
foreach(FieldInfo * parent, info->fields) {
|
||||
if (parent->name == parentName) {
|
||||
// clone from this parent
|
||||
*field = *parent; // safe shallow copy, no ptrs in struct
|
||||
field->name = name; // set our name
|
||||
// Add field to object
|
||||
info->fields.append(field);
|
||||
// Done
|
||||
return QString();
|
||||
}
|
||||
}
|
||||
return QString("Object:field::cloneof parent unknown");
|
||||
}
|
||||
else {
|
||||
return QString("Object:field:cloneof attribute is empty");
|
||||
}
|
||||
}
|
||||
else {
|
||||
// this field is not a clone, so remember its name
|
||||
field->name = name;
|
||||
}
|
||||
|
||||
// Get units attribute
|
||||
elemAttr = elemAttributes.namedItem("units");
|
||||
@ -410,6 +440,8 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
|
||||
}
|
||||
|
||||
// Get numelements or elementnames attribute
|
||||
field->numElements = 0;
|
||||
// Look for element names as an attribute first
|
||||
elemAttr = elemAttributes.namedItem("elementnames");
|
||||
if ( !elemAttr.isNull() ) {
|
||||
// Get element names
|
||||
@ -422,9 +454,26 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
|
||||
field->defaultElementNames = false;
|
||||
}
|
||||
else {
|
||||
// Look for a list of child elementname nodes
|
||||
QDomNode listNode = childNode.firstChildElement("elementnames");
|
||||
if (!listNode.isNull()) {
|
||||
for (QDomElement node = listNode.firstChildElement("elementname");
|
||||
!node.isNull(); node = node.nextSiblingElement("elementname")) {
|
||||
QDomNode name = node.firstChild();
|
||||
if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
|
||||
field->elementNames.append(name.nodeValue());
|
||||
}
|
||||
}
|
||||
field->numElements = field->elementNames.length();
|
||||
field->defaultElementNames = false;
|
||||
}
|
||||
}
|
||||
// If no element names were found, then fall back to looking
|
||||
// for the number of elements in the 'elements' attribute
|
||||
if (field->numElements == 0) {
|
||||
elemAttr = elemAttributes.namedItem("elements");
|
||||
if ( elemAttr.isNull() ) {
|
||||
return QString("Object:field:elements and Object:field:elementnames attribute is missing");
|
||||
return QString("Object:field:elements and Object:field:elementnames attribute/element is missing");
|
||||
}
|
||||
else {
|
||||
field->numElements = elemAttr.nodeValue().toInt();
|
||||
@ -434,19 +483,34 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
|
||||
field->defaultElementNames = true;
|
||||
}
|
||||
}
|
||||
// Get options attribute (only if an enum type)
|
||||
// Get options attribute or child elements (only if an enum type)
|
||||
if (field->type == FIELDTYPE_ENUM) {
|
||||
|
||||
// Get options attribute
|
||||
// Look for options attribute
|
||||
elemAttr = elemAttributes.namedItem("options");
|
||||
if ( elemAttr.isNull() )
|
||||
return QString("Object:field:options attribute is missing");
|
||||
|
||||
QStringList options = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
|
||||
for (int n = 0; n < options.length(); ++n)
|
||||
options[n] = options[n].trimmed();
|
||||
|
||||
field->options = options;
|
||||
if (!elemAttr.isNull()) {
|
||||
QStringList options = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
|
||||
for (int n = 0; n < options.length(); ++n) {
|
||||
options[n] = options[n].trimmed();
|
||||
}
|
||||
field->options = options;
|
||||
}
|
||||
else {
|
||||
// Look for a list of child 'option' nodes
|
||||
QDomNode listNode = childNode.firstChildElement("options");
|
||||
if (!listNode.isNull()) {
|
||||
for (QDomElement node = listNode.firstChildElement("option");
|
||||
!node.isNull(); node = node.nextSiblingElement("option")) {
|
||||
QDomNode name = node.firstChild();
|
||||
if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
|
||||
field->options.append(name.nodeValue());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
if (field->options.length() == 0) {
|
||||
return QString("Object:field:options attribute/element is missing");
|
||||
}
|
||||
}
|
||||
|
||||
// Get the default value attribute (required for settings objects, optional for the rest)
|
||||
@ -466,12 +530,14 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
|
||||
return QString("Object:field:incorrect number of default values");
|
||||
|
||||
/*support legacy single default for multiple elements
|
||||
We sould really issue a warning*/
|
||||
We should really issue a warning*/
|
||||
for(int ct=1; ct< field->numElements; ct++)
|
||||
defaults.append(defaults[0]);
|
||||
}
|
||||
field->defaultValues = defaults;
|
||||
}
|
||||
|
||||
// Limits attribute
|
||||
elemAttr = elemAttributes.namedItem("limits");
|
||||
if ( elemAttr.isNull() ) {
|
||||
field->limitValues=QString();
|
||||
|
||||
@ -5,29 +5,76 @@
|
||||
<field name="FeedForward" units="" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
|
||||
<field name="Curve2Source" units="" type="enum" elements="1" options="Throttle,Roll,Pitch,Yaw,Collective,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle"/>
|
||||
<field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
|
||||
<field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer1Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer2Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer2Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer3Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer3Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer4Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer4Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer5Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer5Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer6Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer6Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer7Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer7Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer8Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer8Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer9Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer9Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer10Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer10Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="ThrottleCurve1" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
|
||||
<field name="Curve2Source" units="" type="enum" elements="1" defaultvalue="Throttle">
|
||||
<options>
|
||||
<option>Throttle</option>
|
||||
<option>Roll</option>
|
||||
<option>Pitch</option>
|
||||
<option>Yaw</option>
|
||||
<option>Collective</option>
|
||||
<option>Accessory0</option>
|
||||
<option>Accessory1</option>
|
||||
<option>Accessory2</option>
|
||||
<option>Accessory3</option>
|
||||
<option>Accessory4</option>
|
||||
<option>Accessory5</option>
|
||||
</options>
|
||||
</field>
|
||||
<field name="ThrottleCurve2" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
|
||||
<field name="Mixer1Type" units="" type="enum" elements="1" defaultvalue="Disabled">
|
||||
<options>
|
||||
<option>Disabled</option>
|
||||
<option>Motor</option>
|
||||
<option>Servo</option>
|
||||
<option>CameraRoll</option>
|
||||
<option>CameraPitch</option>
|
||||
<option>CameraYaw</option>
|
||||
<option>Accessory0</option>
|
||||
<option>Accessory1</option>
|
||||
<option>Accessory2</option>
|
||||
<option>Accessory3</option>
|
||||
<option>Accessory4</option>
|
||||
<option>Accessory5</option>
|
||||
</options>
|
||||
</field>
|
||||
<field name="Mixer1Vector" units="" type="int8" defaultvalue="0">
|
||||
<elementnames>
|
||||
<elementname>ThrottleCurve1</elementname>
|
||||
<elementname>ThrottleCurve2</elementname>
|
||||
<elementname>Roll</elementname>
|
||||
<elementname>Pitch</elementname>
|
||||
<elementname>Yaw</elementname>
|
||||
</elementnames>
|
||||
</field>
|
||||
|
||||
<field name="Mixer2Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer2Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<field name="Mixer3Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer3Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<field name="Mixer4Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer4Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<field name="Mixer5Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer5Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<field name="Mixer6Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer6Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<field name="Mixer7Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer7Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<field name="Mixer8Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer8Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<field name="Mixer9Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer9Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<field name="Mixer10Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer10Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
@ -1,9 +1,94 @@
|
||||
<xml>
|
||||
<object name="TaskInfo" singleinstance="true" settings="false">
|
||||
<description>Task information</description>
|
||||
<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Airspeed,Stabilization,AltitudeHold,PathPlanner,PathFollower,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,ModemRx,ModemTx,ModemStat,EventDispatcher,Autotune"/>
|
||||
<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Airspeed,Stabilization,AltitudeHold,PathPlanner,PathFollower,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,ModemRx,ModemTx,ModemStat,EventDispatcher,Autotune"/>
|
||||
<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Airspeed,Stabilization,AltitudeHold,PathPlanner,PathFollower,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,ModemRx,ModemTx,ModemStat,EventDispatcher,Autotune"/>
|
||||
<field name="StackRemaining" units="bytes" type="uint16">
|
||||
<elementnames>
|
||||
<elementname>System</elementname>
|
||||
<elementname>Actuator</elementname>
|
||||
<elementname>Attitude</elementname>
|
||||
<elementname>Sensors</elementname>
|
||||
<elementname>TelemetryTx</elementname>
|
||||
<elementname>TelemetryTxPri</elementname>
|
||||
<elementname>TelemetryRx</elementname>
|
||||
<elementname>GPS</elementname>
|
||||
<elementname>ManualControl</elementname>
|
||||
<elementname>Altitude</elementname>
|
||||
<elementname>Airspeed</elementname>
|
||||
<elementname>Stabilization</elementname>
|
||||
<elementname>AltitudeHold</elementname>
|
||||
<elementname>PathPlanner</elementname>
|
||||
<elementname>PathFollower</elementname>
|
||||
<elementname>FlightPlan</elementname>
|
||||
<elementname>Com2UsbBridge</elementname>
|
||||
<elementname>Usb2ComBridge</elementname>
|
||||
<elementname>OveroSync</elementname>
|
||||
<elementname>ModemRx</elementname>
|
||||
<elementname>ModemTx</elementname>
|
||||
<elementname>ModemStat</elementname>
|
||||
<elementname>Autotune</elementname>
|
||||
<elementname>EventDispatcher</elementname>
|
||||
</elementnames>
|
||||
</field>
|
||||
<field name="Running" units="bool" type="enum">
|
||||
<elementnames>
|
||||
<elementname>System</elementname>
|
||||
<elementname>Actuator</elementname>
|
||||
<elementname>Attitude</elementname>
|
||||
<elementname>Sensors</elementname>
|
||||
<elementname>TelemetryTx</elementname>
|
||||
<elementname>TelemetryTxPri</elementname>
|
||||
<elementname>TelemetryRx</elementname>
|
||||
<elementname>GPS</elementname>
|
||||
<elementname>ManualControl</elementname>
|
||||
<elementname>Altitude</elementname>
|
||||
<elementname>Airspeed</elementname>
|
||||
<elementname>Stabilization</elementname>
|
||||
<elementname>AltitudeHold</elementname>
|
||||
<elementname>PathPlanner</elementname>
|
||||
<elementname>PathFollower</elementname>
|
||||
<elementname>FlightPlan</elementname>
|
||||
<elementname>Com2UsbBridge</elementname>
|
||||
<elementname>Usb2ComBridge</elementname>
|
||||
<elementname>OveroSync</elementname>
|
||||
<elementname>ModemRx</elementname>
|
||||
<elementname>ModemTx</elementname>
|
||||
<elementname>ModemStat</elementname>
|
||||
<elementname>Autotune</elementname>
|
||||
<elementname>EventDispatcher</elementname>
|
||||
</elementnames>
|
||||
<options>
|
||||
<option>False</option>
|
||||
<option>True</option>
|
||||
</options>
|
||||
</field>
|
||||
<field name="RunningTime" units="%" type="uint8">
|
||||
<elementnames>
|
||||
<elementname>System</elementname>
|
||||
<elementname>Actuator</elementname>
|
||||
<elementname>Attitude</elementname>
|
||||
<elementname>Sensors</elementname>
|
||||
<elementname>TelemetryTx</elementname>
|
||||
<elementname>TelemetryTxPri</elementname>
|
||||
<elementname>TelemetryRx</elementname>
|
||||
<elementname>GPS</elementname>
|
||||
<elementname>ManualControl</elementname>
|
||||
<elementname>Altitude</elementname>
|
||||
<elementname>Airspeed</elementname>
|
||||
<elementname>Stabilization</elementname>
|
||||
<elementname>AltitudeHold</elementname>
|
||||
<elementname>PathPlanner</elementname>
|
||||
<elementname>PathFollower</elementname>
|
||||
<elementname>FlightPlan</elementname>
|
||||
<elementname>Com2UsbBridge</elementname>
|
||||
<elementname>Usb2ComBridge</elementname>
|
||||
<elementname>OveroSync</elementname>
|
||||
<elementname>ModemRx</elementname>
|
||||
<elementname>ModemTx</elementname>
|
||||
<elementname>ModemStat</elementname>
|
||||
<elementname>Autotune</elementname>
|
||||
<elementname>EventDispatcher</elementname>
|
||||
</elementnames>
|
||||
</field>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="periodic" period="10000"/>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user