<xml> <object name="FlightModeSettings" singleinstance="true" settings="true" category="Control"> <description>Settings to control arming and flight mode</description> <field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right,Accessory 0,Accessory 1,Accessory 2,Accessory 3" defaultvalue="Always Disarmed"/> <!-- 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,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent" defaultvalue="Attitude,Attitude,AxisLock,Manual" limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \ %NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \ %NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \ %NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;" /> <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent" defaultvalue="Attitude,Attitude,Rate,Manual" limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \ %NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \ %NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \ %NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;" /> <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent" defaultvalue="Rate,Rate,Rate,Manual" limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \ %NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \ %NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \ %NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;" /> <field name="Stabilization4Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent" defaultvalue="Attitude,Attitude,AxisLock,CruiseControl" limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \ %NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \ %NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \ %NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;" /> <field name="Stabilization5Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent" defaultvalue="Attitude,Attitude,Rate,CruiseControl" limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \ %NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \ %NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \ %NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;" /> <field name="Stabilization6Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent" defaultvalue="Rate,Rate,Rate,Manual" limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \ %NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \ %NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \ %NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;" /> <!-- Note these options values should be identical to those defined in FlightMode --> <!-- Currently only some modes are enabled for UI using limits attribute per board. Update when more modes will be operational --> <field name="FlightModePosition" units="" type="enum" elements="6" options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,VelocityRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff,AutoTune" defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6" limits="%NE:POI:AutoCruise; \ %NE:POI:AutoCruise; \ %NE:POI:AutoCruise; \ %NE:POI:AutoCruise; \ %NE:POI:AutoCruise; \ %NE:POI:AutoCruise;" /> <field name="AlwaysStabilizeWhenArmedSwitch" units="" type="enum" elements="1" options="Disabled,Accessory 0,Accessory 1,Accessory 2,Accessory 3" defaultvalue="Disabled" description="For Multirotors. Always stabilize no matter the throttle setting when vehicle is armed. Does not work when vehicle is set to Always Armed."/> <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/> <field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/> <field name="DisarmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/> <field name="DisableSanityChecks" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/> <field name="ReturnToBaseAltitudeOffset" units="m" type="float" elements="1" defaultvalue="10"/> <field name="ReturnToBaseVelocity" units="m/s" type="float" elements="1" defaultvalue="2"/> <field name="ReturnToBaseNextCommand" units="" type="enum" elements="1" options="Hold,Land" defaultvalue="Hold"/> <field name="LandingVelocity" units="m" type="float" elements="1" defaultvalue="0.6"/> <field name="AutoTakeOffVelocity" units="m" type="float" elements="1" defaultvalue="0.6"/> <field name="AutoTakeOffHeight" units="m" type="float" elements="1" defaultvalue="2.5" description="height in meters above arming altitude to climb to during autotakeoff"/> <field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="30,15" description="stick sensitivity for position roam modes"/> <field name="VarioControlLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.98" description="stick low pass filter for position roam modes"/> <field name="FlightModeChangeRestartsPathPlan" units="bool" type="enum" elements="1" options="False,True" defaultvalue="True" description="wether a path plan should continue when interrupted by flight mode change (False), or restart from waypoint 0 (True)"/> <access gcs="readwrite" flight="readwrite"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetryflight acked="true" updatemode="onchange" period="0"/> <logging updatemode="manual" period="0"/> </object> </xml>