mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +01:00
04c42bd316
1. Make autotakeoff height configurable 2. Fix the pidcontroldown transfer to solve the rough transition between pid controllers for landing, takeoff, braking etc.
125 lines
9.5 KiB
XML
125 lines
9.5 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,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
|
|
defaultvalue="Attitude,Attitude,AxisLock,Manual"
|
|
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
|
|
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
|
|
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
|
|
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
|
|
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
|
|
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
|
|
/>
|
|
<field name="Stabilization2Settings" units="" type="enum"
|
|
elementnames="Roll,Pitch,Yaw,Thrust"
|
|
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
|
|
defaultvalue="Attitude,Attitude,Rate,Manual"
|
|
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
|
|
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
|
|
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
|
|
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
|
|
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
|
|
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
|
|
/>
|
|
<field name="Stabilization3Settings" units="" type="enum"
|
|
elementnames="Roll,Pitch,Yaw,Thrust"
|
|
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
|
|
defaultvalue="Rate,Rate,Rate,Manual"
|
|
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
|
|
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
|
|
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
|
|
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
|
|
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
|
|
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
|
|
/>
|
|
<field name="Stabilization4Settings" units="" type="enum"
|
|
elementnames="Roll,Pitch,Yaw,Thrust"
|
|
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
|
|
defaultvalue="Attitude,Attitude,AxisLock,CruiseControl"
|
|
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
|
|
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
|
|
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
|
|
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
|
|
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
|
|
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
|
|
/>
|
|
<field name="Stabilization5Settings" units="" type="enum"
|
|
elementnames="Roll,Pitch,Yaw,Thrust"
|
|
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
|
|
defaultvalue="Attitude,Attitude,Rate,CruiseControl"
|
|
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
|
|
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
|
|
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
|
|
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
|
|
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
|
|
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
|
|
/>
|
|
<field name="Stabilization6Settings" units="" type="enum"
|
|
elementnames="Roll,Pitch,Yaw,Thrust"
|
|
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
|
|
defaultvalue="Rate,Rate,Rate,Manual"
|
|
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
|
|
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
|
|
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
|
|
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
|
|
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
|
|
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
|
|
/>
|
|
|
|
<!-- 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,PositionRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff"
|
|
defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6"
|
|
limits="\
|
|
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
|
|
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
|
|
%0903NE:POI:PathPlanner:AutoCruise;\
|
|
\
|
|
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
|
|
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
|
|
%0903NE:POI:PathPlanner:AutoCruise;\
|
|
\
|
|
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
|
|
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
|
|
%0903NE:POI:PathPlanner:AutoCruise;\
|
|
\
|
|
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
|
|
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
|
|
%0903NE:POI:PathPlanner:AutoCruise;\
|
|
\
|
|
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
|
|
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
|
|
%0903NE:POI:PathPlanner:AutoCruise;\
|
|
\
|
|
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
|
|
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
|
|
%0903NE:POI:PathPlanner:AutoCruise;"/>
|
|
|
|
<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>
|