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105 lines
7.6 KiB
XML
105 lines
7.6 KiB
XML
<xml>
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<object name="FlightModeSettings" singleinstance="true" settings="true" category="Control">
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<description>Settings to control arming and flight mode</description>
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<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"/>
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<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
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<field name="Stabilization1Settings" units="" type="enum"
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elementnames="Roll,Pitch,Yaw,Thrust"
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options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent"
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defaultvalue="Attitude,Attitude,AxisLock,Manual"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
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%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \
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%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;"
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/>
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<field name="Stabilization2Settings" units="" type="enum"
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elementnames="Roll,Pitch,Yaw,Thrust"
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options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent"
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defaultvalue="Attitude,Attitude,Rate,Manual"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
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%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \
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%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;"
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/>
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<field name="Stabilization3Settings" units="" type="enum"
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elementnames="Roll,Pitch,Yaw,Thrust"
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options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent"
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defaultvalue="Rate,Rate,Rate,Manual"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
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%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \
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%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;"
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/>
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<field name="Stabilization4Settings" units="" type="enum"
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elementnames="Roll,Pitch,Yaw,Thrust"
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options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent"
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defaultvalue="Attitude,Attitude,AxisLock,CruiseControl"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
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%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \
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%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;"
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/>
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<field name="Stabilization5Settings" units="" type="enum"
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elementnames="Roll,Pitch,Yaw,Thrust"
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options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent"
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defaultvalue="Attitude,Attitude,Rate,CruiseControl"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
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%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \
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%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;"
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/>
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<field name="Stabilization6Settings" units="" type="enum"
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elementnames="Roll,Pitch,Yaw,Thrust"
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options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent"
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defaultvalue="Rate,Rate,Rate,Manual"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
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%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \
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%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;"
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/>
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<!-- Note these options values should be identical to those defined in FlightMode -->
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<!-- Currently only some modes are enabled for UI using limits attribute per board. Update when more modes will be operational -->
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<field name="FlightModePosition"
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units=""
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type="enum"
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elements="6"
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options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,VelocityRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff,AutoTune"
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defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6"
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limits="%NE:POI:AutoCruise; \
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%NE:POI:AutoCruise; \
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%NE:POI:AutoCruise; \
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%NE:POI:AutoCruise; \
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%NE:POI:AutoCruise; \
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%NE:POI:AutoCruise;" />
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<field name="AlwaysStabilizeWhenArmedSwitch"
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units=""
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type="enum"
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elements="1"
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options="Disabled,Accessory 0,Accessory 1,Accessory 2,Accessory 3"
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defaultvalue="Disabled"
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description="For Multirotors. Always stabilize no matter the throttle setting when vehicle is armed. Does not work when vehicle is set to Always Armed."/>
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<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
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<field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
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<field name="DisarmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
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<field name="DisableSanityChecks" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
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<field name="ReturnToBaseAltitudeOffset" units="m" type="float" elements="1" defaultvalue="10"/>
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<field name="ReturnToBaseVelocity" units="m/s" type="float" elements="1" defaultvalue="2"/>
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<field name="ReturnToBaseNextCommand" units="" type="enum" elements="1" options="Hold,Land" defaultvalue="Hold"/>
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<field name="LandingVelocity" units="m" type="float" elements="1" defaultvalue="0.6"/>
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<field name="AutoTakeOffVelocity" units="m" type="float" elements="1" defaultvalue="0.6"/>
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<field name="AutoTakeOffHeight" units="m" type="float" elements="1" defaultvalue="2.5" description="height in meters above arming altitude to climb to during autotakeoff"/>
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<field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="30,15" description="stick sensitivity for position roam modes"/>
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<field name="VarioControlLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.98" description="stick low pass filter for position roam modes"/>
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<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)"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="true" updatemode="onchange" period="0"/>
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<telemetryflight acked="true" updatemode="onchange" period="0"/>
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<logging updatemode="manual" period="0"/>
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</object>
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</xml>
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