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LibrePilot/shared/uavobjectdefinition/pathdesired.xml
2012-05-21 12:10:00 +02:00

29 lines
1.6 KiB
XML

<xml>
<object name="PathDesired" singleinstance="true" settings="false">
<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,
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="uint8" 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="onchange" period="0"/>
<logging updatemode="onchange" period="0"/>
</object>
</xml>