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cd6387d0a6
It is now possible to have 1 to 6 flight mode switch positions
(usefull for guidance, position hold and similar use).
The input channel range is divided into N (1 to 6) zones and each
zone represents a flight mode. Default is 3 zones (backward compatible),
but more can be chosen.
How to use: configure Tx mixers in a way they provide required number
of different values for the same FlightMode channel. For instance,
using Turnigy 9X radio with ER9X firmware, one can create a mixer like
this:
-100 MAX ID0 Manual
R -50 MAX ID1 Stabilized1 (Rate)
R 0 MAX ID2 Stabilized2 (Attitude)
R 50 MAX RUD PositionHold
R 100 MAX ELE ReturnToBase
And set number of flight mode positions to 5. As a result, the 3-pos
switch (ID0, ID1, ID2) will provide first three flight modes, the rudder
D/R switch will override those and enable the 4th flight mode, and
elevator D/R switch will have highest precedence and activate the 5th
flight mode.
This will change the ManualControlSettings objectID.
36 lines
2.9 KiB
XML
36 lines
2.9 KiB
XML
<xml>
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<object name="ManualControlSettings" singleinstance="true" settings="true">
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<description>Settings to indicate how to decode receiver input by @ref ManualControlModule.</description>
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<field name="ChannelGroups" units="Channel Group" type="enum"
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elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"
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options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),S.Bus,GCS,None" defaultvalue="None"/>
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<field name="ChannelNumber" units="channel" type="uint8" defaultvalue="0"
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elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
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<field name="ChannelMin" units="us" type="int16" defaultvalue="1000"
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elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
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<field name="ChannelNeutral" units="us" type="int16" defaultvalue="1500"
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elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
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<field name="ChannelMax" units="us" type="int16" defaultvalue="2000"
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elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
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<field name="Deadband" units="%" type="float" elements="1" defaultvalue="0"/>
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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" 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" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
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<field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
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<field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
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<!-- Note these options values should be identical to those defined in FlightMode -->
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<field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/>
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<field name="FlightModePosition" units="" type="enum" elements="6" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold"/>
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<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
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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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