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28ad66502a
LP-549 Enable ASWA only after initial throttle threshold has been reached to allow Iterm to be zeroed with zero throttle while on ground.
107 lines
7.8 KiB
XML
107 lines
7.8 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="BatteryFailsafeSwitchPositions" units="" type="int8" elementnames="Warning,Critical" defaultvalue="-1" />
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<field name="BatteryFailsafeDebounceTimer" units="ms" type="uint16" elements="1" defaultvalue="5000" />
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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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