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28 lines
1.7 KiB
XML
28 lines
1.7 KiB
XML
<xml>
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<object name="PathDesired" singleinstance="true" settings="false" category="Navigation">
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<description>The endpoint or path the craft is trying to achieve. Can come from @ref ManualControl or @ref PathPlanner </description>
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<field name="Start" units="m" type="float" elementnames="North,East,Down" default="0"/>
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<field name="End" units="m" type="float" elementnames="North,East,Down" default="0"/>
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<field name="StartingVelocity" units="m/s" type="float" elements="1" default="0"/>
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<field name="EndingVelocity" units="m/s" type="float" elements="1" default="0"/>
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<!-- ensure the following Mode options are exactly the same as in pathaction mode -->
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<field name="Mode" units="" type="enum" elements="1" options="GoToEndpoint,FollowVector,CircleRight,CircleLeft,
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FixedAttitude,SetAccessory,DisarmAlarm,Land,Brake,Velocity,AutoTakeoff" default="GoToEndpoint" />
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<!-- Endpoint mode - move directly towards endpoint regardless of position -->
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<!-- Straight Mode - move across linear path through Start towards the waypoint end, adjusting velocity - continue straight -->
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<!-- Circle Mode - move a circular pattern around End with radius End-Start (straight line in the vertical)-->
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<field name="ModeParameters" units="" type="float" elements="4" default="0"/>
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<field name="UID" units="" type="int16" elements="1" default="0"/>
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<!-- unique ID confirmed with pathfollower in pathstatus to acknowledge a change in PathDesired -->
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="false" updatemode="manual" period="0"/>
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<telemetryflight acked="false" updatemode="periodic" period="1000"/>
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<logging updatemode="manual" period="0"/>
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</object>
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</xml>
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