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Code Issues Releases Activity
3ad47bfa0a
LibrePilot/shared/uavobjectdefinition/flightmodesettings.xml
Corvus Corax 3ad47bfa0a OP-1516 added Acro+ stabi mode
2014-10-02 22:13:10 +02:00

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9.8 KiB
XML
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<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" 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,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,AxisLock,Manual"
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:Acro+:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<field name="Stabilization2Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,Rate,Manual"
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:Acro+:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<field name="Stabilization3Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Rate,Rate,Rate,Manual"
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:Acro+:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<field name="Stabilization4Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,AxisLock,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:Acro+:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<field name="Stabilization5Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,Rate,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:Acro+:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<field name="Stabilization6Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Rate,Rate,Rate,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:Acro+:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<!-- 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,Autotune,PositionHold,PositionVarioFPV,PositionVarioLOS,PositionVarioNSEW,ReturnToBase,Land,PathPlanner,POI,AutoCruise"
defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6"
limits="\
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;\
\
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;\
\
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;\
\
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;\
\
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;\
\
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;"/>
<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="LandingVelocity" units="m" type="float" elements="1" defaultvalue="0.4"/>
<field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="10,2"/>
<!-- optimized for current vtolpathfollower,
for fixed wing pathfollower set to Horizontal=500,Vertical=5 -->
<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>
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