LibrePilot/shared/uavobjectdefinition/flightmodesettings.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:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
			%NE:Rate::RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
			%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
			%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
			/>
        <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:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
			%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
			%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
			/>
        <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:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
			%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
			%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
			/>
        <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:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
			%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
			%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
			/>
        <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:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
			%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
			%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
			/>
        <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:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
			%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
			%0402NE:Rate:RateTrainer: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>