1
0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-05 13:24:11 +01:00
LibrePilot/shared/uavobjectdefinition/flightmodesettings.xml
2015-09-24 23:02:09 +02:00

96 lines
6.8 KiB
XML

<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,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,AxisLock,Manual"
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
/>
<field name="Stabilization2Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,Rate,Manual"
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
/>
<field name="Stabilization3Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Rate,Rate,Rate,Manual"
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
/>
<field name="Stabilization4Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,AxisLock,CruiseControl"
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
/>
<field name="Stabilization5Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,Rate,CruiseControl"
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
/>
<field name="Stabilization6Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Rate,Rate,Rate,Manual"
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
/>
<!-- 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,PositionHold,CourseLock,VelocityRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff"
defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6"
limits="%NE:POI:AutoCruise; \
%NE:POI:AutoCruise; \
%NE:POI:AutoCruise; \
%NE:POI:AutoCruise; \
%NE:POI:AutoCruise; \
%NE:POI:AutoCruise;" />
<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."/>
<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="ReturnToBaseNextCommand" units="" type="enum" elements="1" options="Hold,Land" defaultvalue="Hold"/>
<field name="LandingVelocity" units="m" type="float" elements="1" defaultvalue="0.6"/>
<field name="AutoTakeOffVelocity" units="m" type="float" elements="1" defaultvalue="0.6"/>
<field name="AutoTakeOffHeight" units="m" type="float" elements="1" defaultvalue="2.5" description="height in meters above arming altitude to climb to during autotakeoff"/>
<field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="30,15" description="stick sensitivity for position roam modes"/>
<field name="VarioControlLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.98" description="stick low pass filter for position roam modes"/>
<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>