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Code Issues Releases Activity

OP-1309 renamed stabilization mode NONE to MANUAL

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This commit is contained in:
Corvus Corax 2014-04-26 20:33:25 +02:00
parent e9d1a2af4b
commit 77f2444fa4
7 changed files with 38 additions and 37 deletions
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15
flight/libraries/sanitycheck.c
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@ -213,7 +213,7 @@ static int32_t check_stabilization_settings(int index, bool multirotor, bool cop
// (why not? might be fun to test ones reactions ;) if you dare, set your frame to "custom"! // (why not? might be fun to test ones reactions ;) if you dare, set your frame to "custom"!
if (multirotor) { if (multirotor) {
for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST; i++) { for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST; i++) {
if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NONE) { if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL) {
return SYSTEMALARMS_ALARM_ERROR; return SYSTEMALARMS_ALARM_ERROR;
} }
} }
@ -221,7 +221,7 @@ static int32_t check_stabilization_settings(int index, bool multirotor, bool cop
// coptercontrol cannot do altitude holding // coptercontrol cannot do altitude holding
if (coptercontrol) { if (coptercontrol) {
if (modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDE if (modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY || modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
) { ) {
return SYSTEMALARMS_ALARM_ERROR; return SYSTEMALARMS_ALARM_ERROR;
@ -230,22 +230,23 @@ static int32_t check_stabilization_settings(int index, bool multirotor, bool cop
// check that thrust modes are only set to thrust axis // check that thrust modes are only set to thrust axis
for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST; i++) { for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST; i++) {
if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDE if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
|| modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY || modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
) { ) {
return SYSTEMALARMS_ALARM_ERROR; return SYSTEMALARMS_ALARM_ERROR;
} }
} }
if (!(modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NONE if (!(modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDE || modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY || modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
)) { )) {
return SYSTEMALARMS_ALARM_ERROR; return SYSTEMALARMS_ALARM_ERROR;
} }
// Warning: This assumes that certain conditions in the XML file are met. That // Warning: This assumes that certain conditions in the XML file are met. That
// FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NONE has the same numeric value for each channel // FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL has the same numeric value for each channel
// and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_NONE // and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL
// (this is checked at compile time by static constraint manualcontrol.h)
return SYSTEMALARMS_ALARM_OK; return SYSTEMALARMS_ALARM_OK;
} }

2
flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
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@ -632,7 +632,7 @@ static uint8_t updateFixedDesiredAttitude()
stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE; stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE; stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_NONE; stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL;
StabilizationDesiredSet(&stabDesired); StabilizationDesiredSet(&stabDesired);

6
flight/modules/ManualControl/inc/manualcontrol.h
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@ -81,7 +81,7 @@ void pathPlannerHandler(bool newinit);
*/ */
#define assumptions1 \ #define assumptions1 \
( \ ( \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \ ((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \ ((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \ ((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \ ((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
@ -90,7 +90,7 @@ void pathPlannerHandler(bool newinit);
#define assumptions3 \ #define assumptions3 \
( \ ( \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \ ((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_MANUAL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \ ((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \ ((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \ ((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
@ -99,7 +99,7 @@ void pathPlannerHandler(bool newinit);
#define assumptions5 \ #define assumptions5 \
( \ ( \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \ ((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_MANUAL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \ ((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \ ((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \ ((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \

6
flight/modules/ManualControl/stabilizedhandler.c
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@ -86,7 +86,7 @@ void stabilizedHandler(bool newinit)
} }
stabilization.Roll = stabilization.Roll =
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd.Roll : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Roll * stabSettings.ManualRate.Roll : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Roll * stabSettings.ManualRate.Roll : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Roll * stabSettings.RollMax : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Roll * stabSettings.RollMax :
@ -98,7 +98,7 @@ void stabilizedHandler(bool newinit)
0; // this is an invalid mode 0; // this is an invalid mode
stabilization.Pitch = stabilization.Pitch =
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd.Pitch : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Pitch * stabSettings.ManualRate.Pitch : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Pitch * stabSettings.ManualRate.Pitch : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Pitch * stabSettings.PitchMax : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Pitch * stabSettings.PitchMax :
@ -120,7 +120,7 @@ void stabilizedHandler(bool newinit)
} else { } else {
stabilization.StabilizationMode.Yaw = stab_settings[2]; stabilization.StabilizationMode.Yaw = stab_settings[2];
stabilization.Yaw = stabilization.Yaw =
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd.Yaw : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Yaw * stabSettings.ManualRate.Yaw : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Yaw * stabSettings.ManualRate.Yaw : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Yaw * stabSettings.YawMax : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Yaw * stabSettings.YawMax :

2
flight/modules/Stabilization/stabilization.c
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@ -545,7 +545,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
break; break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_NONE: case STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL:
actuatorDesiredAxis[i] = boundf(stabDesiredAxis[i], -1.0f, 1.0f); actuatorDesiredAxis[i] = boundf(stabDesiredAxis[i], -1.0f, 1.0f);
break; break;
default: default:

42
shared/uavobjectdefinition/flightmodesettings.xml
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@ -7,36 +7,36 @@
<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode --> <!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
<field name="Stabilization1Settings" units="" type="enum" <field name="Stabilization1Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust" elementnames="Roll,Pitch,Yaw,Thrust"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,Altitude,VerticalVelocity,CruiseControl" options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"
defaultvalue="Attitude,Attitude,AxisLock,CruiseControl" defaultvalue="Attitude,Attitude,AxisLock,Manual"
limits="%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \ limits="%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \ %NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \ %NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\ %NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:Altitude:VerticalVelocity,\ %0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:Altitude:VerticalVelocity;" %0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity;"
/> />
<field name="Stabilization2Settings" units="" type="enum" <field name="Stabilization2Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust" elementnames="Roll,Pitch,Yaw,Thrust"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,Altitude,VerticalVelocity,CruiseControl" options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"
defaultvalue="Attitude,Attitude,Rate,CruiseControl" defaultvalue="Attitude,Attitude,Rate,Manual"
limits="%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \ limits="%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \ %NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \ %NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\ %NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:Altitude:VerticalVelocity,\ %0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:Altitude:VerticalVelocity;" %0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity;"
/> />
<field name="Stabilization3Settings" units="" type="enum" <field name="Stabilization3Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust" elementnames="Roll,Pitch,Yaw,Thrust"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,Altitude,VerticalVelocity,CruiseControl" options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"
defaultvalue="Rate,Rate,Rate,None" defaultvalue="Rate,Rate,Rate,Manual"
limits="%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \ limits="%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \ %NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \ %NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\ %NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:Altitude:VerticalVelocity,\ %0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:Altitude:VerticalVelocity;" %0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity;"
/> />
<!-- Note these options values should be identical to those defined in FlightMode --> <!-- Note these options values should be identical to those defined in FlightMode -->

2
shared/uavobjectdefinition/stabilizationdesired.xml
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@ -6,7 +6,7 @@
<field name="Yaw" units="degrees" type="float" elements="1"/> <field name="Yaw" units="degrees" type="float" elements="1"/>
<field name="Thrust" units="%" type="float" elements="1"/> <field name="Thrust" units="%" type="float" elements="1"/>
<!-- These values should match those in FlightModeSettings.Stabilization{1,2,3}Settings --> <!-- These values should match those in FlightModeSettings.Stabilization{1,2,3}Settings -->
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,Altitude,VerticalVelocity,CruiseControl"/> <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/> <telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/> <telemetryflight acked="false" updatemode="periodic" period="1000"/>