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Code Issues Releases Activity

OP-1287 renamed VELOCITYCONTROL back to AltitudeVario for consistency

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This commit is contained in:
Corvus Corax 2014-06-03 18:42:54 +02:00
parent bd12bbea91
commit f0c4b8f9c7
7 changed files with 50 additions and 50 deletions
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6
flight/libraries/sanitycheck.c
View File

@ -226,7 +226,7 @@ static bool check_stabilization_settings(int index, bool multirotor, bool copter
// coptercontrol cannot do altitude holding
if (coptercontrol) {
if (modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO
) {
return false;
}
@ -235,14 +235,14 @@ static bool check_stabilization_settings(int index, bool multirotor, bool copter
// check that thrust modes are only set to thrust axis
for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST; i++) {
if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
|| modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
|| modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO
) {
return false;
}
}
if (!(modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL
)) {
return false;

12
flight/modules/ManualControl/inc/manualcontrol.h
View File

@ -103,7 +103,7 @@ void takeOffLocationHandlerInit();
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VERTICALVELOCITY) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
1 \
)
@ -120,7 +120,7 @@ void takeOffLocationHandlerInit();
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_VERTICALVELOCITY == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VERTICALVELOCITY) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
1 \
)
@ -137,7 +137,7 @@ void takeOffLocationHandlerInit();
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_VERTICALVELOCITY == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VERTICALVELOCITY) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
1 \
)
@ -154,7 +154,7 @@ void takeOffLocationHandlerInit();
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_VERTICALVELOCITY == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VERTICALVELOCITY) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
1 \
)
@ -171,7 +171,7 @@ void takeOffLocationHandlerInit();
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_VERTICALVELOCITY == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VERTICALVELOCITY) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
1 \
)
@ -188,7 +188,7 @@ void takeOffLocationHandlerInit();
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_VERTICALVELOCITY == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VERTICALVELOCITY) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
1 \
)

2
flight/modules/Stabilization/outerloop.c
View File

@ -247,7 +247,7 @@ static void stabilizationOuterloopTask()
case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE:
rateDesiredAxis[t] = stabilizationAltitudeHold(stabilizationDesiredAxis[t], ALTITUDEHOLD, reinit);
break;
case STABILIZATIONSTATUS_OUTERLOOP_VERTICALVELOCITY:
case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO:
rateDesiredAxis[t] = stabilizationAltitudeHold(stabilizationDesiredAxis[t], ALTITUDEVARIO, reinit);
break;
#endif /* REVOLUTION */

4
flight/modules/Stabilization/stabilization.c
View File

@ -174,8 +174,8 @@ static void StabilizationDesiredUpdatedCb(__attribute__((unused)) UAVObjEvent *e
cast_struct_to_array(status.OuterLoop, status.OuterLoop.Roll)[t] = STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE;
cast_struct_to_array(status.InnerLoop, status.InnerLoop.Roll)[t] = STABILIZATIONSTATUS_INNERLOOP_CRUISECONTROL;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_VERTICALVELOCITY:
cast_struct_to_array(status.OuterLoop, status.OuterLoop.Roll)[t] = STABILIZATIONSTATUS_OUTERLOOP_VERTICALVELOCITY;
case STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO:
cast_struct_to_array(status.OuterLoop, status.OuterLoop.Roll)[t] = STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO;
cast_struct_to_array(status.InnerLoop, status.InnerLoop.Roll)[t] = STABILIZATIONSTATUS_INNERLOOP_CRUISECONTROL;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL:

72
shared/uavobjectdefinition/flightmodesettings.xml
View File

@ -7,69 +7,69 @@
<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
<field name="Stabilization1Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,AxisLock,Manual"
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity;"
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<field name="Stabilization2Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,Rate,Manual"
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity;"
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<field name="Stabilization3Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Rate,Rate,Rate,Manual"
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity;"
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<field name="Stabilization4Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,AxisLock,CruiseControl"
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity;"
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<field name="Stabilization5Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,Rate,CruiseControl"
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity;"
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<field name="Stabilization6Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Rate,Rate,Rate,CruiseControl"
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity;"
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<!-- Note these options values should be identical to those defined in FlightMode -->

2
shared/uavobjectdefinition/stabilizationdesired.xml
View File

@ -6,7 +6,7 @@
<field name="Yaw" units="degrees" type="float" elements="1"/>
<field name="Thrust" units="%" type="float" elements="1"/>
<!-- These values should match those in FlightModeSettings.Stabilization{1,2,3}Settings -->
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"/>
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>

2
shared/uavobjectdefinition/stabilizationstatus.xml
View File

@ -3,7 +3,7 @@
<description>Contains status information to control submodules for stabilization.</description>
<field name="OuterLoop" units="" type="enum" options="Direct,Attitude,Rattitude,Weakleveling,Altitude,VerticalVelocity">
<field name="OuterLoop" units="" type="enum" options="Direct,Attitude,Rattitude,Weakleveling,Altitude,AltitudeVario">
<elementnames>
<elementname>Roll</elementname>
<elementname>Pitch</elementname>