<xml> <object name="PathDesired" singleinstance="true" settings="false" category="Navigation"> <description>The endpoint or path the craft is trying to achieve. Can come from @ref ManualControl or @ref PathPlanner </description> <field name="Start" units="m" type="float" elementnames="North,East,Down" default="0"/> <field name="End" units="m" type="float" elementnames="North,East,Down" default="0"/> <field name="StartingVelocity" units="m/s" type="float" elements="1" default="0"/> <field name="EndingVelocity" units="m/s" type="float" elements="1" default="0"/> <field name="Mode" units="" type="enum" elements="1" options="FlyEndpoint,FlyVector,FlyCircleRight,FlyCircleLeft, DriveEndpoint,DriveVector,DriveCircleLeft,DriveCircleRight, FixedAttitude, SetAccessory, Land, DisarmAlarm" default="0"/> <!-- Endpoint mode - move directly towards endpoint regardless of position --> <!-- Straight Mode - move across linear path through Start towards the waypoint end, adjusting velocity - continue straight --> <!-- Circle Mode - move a circular pattern around End with radius End-Start (straight line in the vertical)--> <field name="ModeParameters" units="" type="float" elements="4" default="0"/> <field name="UID" units="" type="int16" elements="1" default="0"/> <!-- unique ID confirmed with pathfollower in pathstatus to acknowledge a change in PathDesired --> <access gcs="readwrite" flight="readwrite"/> <telemetrygcs acked="false" updatemode="manual" period="0"/> <telemetryflight acked="false" updatemode="periodic" period="1000"/> <logging updatemode="manual" period="0"/> </object> </xml>