shared/uavobjectdefinition/flightmodesettings.xml

   1 <xml>
   2     <object name="FlightModeSettings" singleinstance="true" settings="true" category="Control">
   3         <description>Settings to control arming and flight mode</description>
   4
   5         <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,Accessory 3" defaultvalue="Always Disarmed"/>
   6
   7         <!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
   8         <field name="Stabilization1Settings" units="" type="enum"
   9                 elementnames="Roll,Pitch,Yaw,Thrust"
  10                 options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent"
  11                 defaultvalue="Attitude,Attitude,AxisLock,Manual"
  12                 limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
  13                         %NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
  14                         %NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \
  15                         %NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;"
  16                         />
  17         <field name="Stabilization2Settings" units="" type="enum"
  18                 elementnames="Roll,Pitch,Yaw,Thrust"
  19                 options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent"
  20                 defaultvalue="Attitude,Attitude,Rate,Manual"
  21                 limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
  22                         %NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
  23                         %NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \
  24                         %NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;"
  25                         />
  26         <field name="Stabilization3Settings" units="" type="enum"
  27                 elementnames="Roll,Pitch,Yaw,Thrust"
  28                 options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent"
  29                 defaultvalue="Rate,Rate,Rate,Manual"
  30                 limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
  31                         %NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
  32                         %NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \
  33                         %NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;"
  34                         />
  35         <field name="Stabilization4Settings" units="" type="enum"
  36                 elementnames="Roll,Pitch,Yaw,Thrust"
  37                 options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent"
  38                 defaultvalue="Attitude,Attitude,AxisLock,CruiseControl"
  39                 limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
  40                         %NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
  41                         %NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \
  42                         %NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;"
  43                         />
  44         <field name="Stabilization5Settings" units="" type="enum"
  45                 elementnames="Roll,Pitch,Yaw,Thrust"
  46                 options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent"
  47                 defaultvalue="Attitude,Attitude,Rate,CruiseControl"
  48                 limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
  49                         %NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
  50                         %NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \
  51                         %NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;"
  52                         />
  53         <field name="Stabilization6Settings" units="" type="enum"
  54                 elementnames="Roll,Pitch,Yaw,Thrust"
  55                 options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl,SystemIdent"
  56                 defaultvalue="Rate,Rate,Rate,Manual"
  57                 limits="%NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
  58                         %NE:AltitudeHold:AltitudeVario:CruiseControl:SystemIdent; \
  59                         %NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:WeakLeveling:VirtualBar:SystemIdent; \
  60                         %NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:SystemIdent;"
  61                         />
  62
  63         <!-- Note these options values should be identical to those defined in FlightMode -->
  64         <!-- Currently only some modes are enabled for UI using limits attribute per board. Update when more modes will be operational -->
  65         <field name="FlightModePosition"
  66                units=""
  67                type="enum"
  68                elements="6"
  69                options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,VelocityRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff,AutoTune"
  70                defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6"
  71                limits="%NE:POI:AutoCruise; \
  72                            %NE:POI:AutoCruise; \
  73                            %NE:POI:AutoCruise; \
  74                            %NE:POI:AutoCruise; \
  75                            %NE:POI:AutoCruise; \
  76                            %NE:POI:AutoCruise;" />
  77
  78         <field name="AlwaysStabilizeWhenArmedSwitch"
  79                units=""
  80                type="enum"
  81                elements="1"
  82                options="Disabled,Accessory 0,Accessory 1,Accessory 2,Accessory 3"
  83                defaultvalue="Disabled"
  84                description="For Multirotors. Always stabilize no matter the throttle setting when vehicle is armed. Does not work when vehicle is set to Always Armed."/>
  85
  86         <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
  87         <field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
  88         <field name="DisarmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
  89         <field name="DisableSanityChecks" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
  90         <field name="ReturnToBaseAltitudeOffset" units="m" type="float" elements="1" defaultvalue="10"/>
  91         <field name="ReturnToBaseVelocity" units="m/s" type="float" elements="1" defaultvalue="2"/>
  92         <field name="ReturnToBaseNextCommand" units="" type="enum" elements="1" options="Hold,Land" defaultvalue="Hold"/>
  93         <field name="LandingVelocity" units="m" type="float" elements="1" defaultvalue="0.6"/>
  94         <field name="AutoTakeOffVelocity" units="m" type="float" elements="1" defaultvalue="0.6"/>
  95         <field name="AutoTakeOffHeight" units="m" type="float" elements="1" defaultvalue="2.5" description="height in meters above arming altitude to climb to during autotakeoff"/>
  96         <field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="30,15" description="stick sensitivity for position roam modes"/>
  97         <field name="VarioControlLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.98" description="stick low pass filter for position roam modes"/>
  98     <field name="BatteryFailsafeSwitchPositions" units="" type="int8" elementnames="Warning,Critical" defaultvalue="-1" />
  99     <field name="BatteryFailsafeDebounceTimer" units="ms" type="uint16" elements="1" defaultvalue="5000" />
 100         <field name="FlightModeChangeRestartsPathPlan" units="bool" type="enum" elements="1" options="False,True" defaultvalue="True" description="wether a path plan should continue when interrupted by flight mode change (False), or restart from waypoint 0 (True)"/>
 101         <access gcs="readwrite" flight="readwrite"/>
 102         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
 103         <telemetryflight acked="true" updatemode="onchange" period="0"/>
 104         <logging updatemode="manual" period="0"/>
 105     </object>
 106 </xml>