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https://bitbucket.org/librepilot/librepilot.git
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55b3b52c4f
Replace PositionRoam with VelocityRoam Make VelocityRoam an explicit flight mode to simplify access Disable PositionRoam as not supported and not suitable to retain.
126 lines
10 KiB
XML
126 lines
10 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" 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"
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defaultvalue="Attitude,Attitude,AxisLock,Manual"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
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%NE:Rate::RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
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%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
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%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
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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"
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defaultvalue="Attitude,Attitude,Rate,Manual"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
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%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
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%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
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%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
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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"
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defaultvalue="Rate,Rate,Rate,Manual"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
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%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
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%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
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%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
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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"
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defaultvalue="Attitude,Attitude,AxisLock,CruiseControl"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
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%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
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%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
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%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
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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"
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defaultvalue="Attitude,Attitude,Rate,CruiseControl"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
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%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
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%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
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%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
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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"
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defaultvalue="Rate,Rate,Rate,Manual"
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limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl; \
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%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
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%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
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%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
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%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
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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"
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defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6"
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limits="\
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%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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%0903NE:POI:PathPlanner:AutoCruise;\
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\
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%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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%0903NE:POI:PathPlanner:AutoCruise;\
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\
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%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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%0903NE:POI:PathPlanner:AutoCruise;\
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\
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%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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%0903NE:POI:PathPlanner:AutoCruise;\
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\
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%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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%0903NE:POI:PathPlanner:AutoCruise;\
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\
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%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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%0903NE:POI:PathPlanner:AutoCruise;"/>
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<field name="AlwaysStabilizeWhenArmed" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE" 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="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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<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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