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" 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,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
  11                 defaultvalue="Attitude,Attitude,AxisLock,Manual"
  12                 limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  13                         %NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  14                         %NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  15                         %NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
  16                         %0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
  17                         %0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
  18                         />
  19         <field name="Stabilization2Settings" units="" type="enum"
  20                 elementnames="Roll,Pitch,Yaw,Thrust"
  21                 options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
  22                 defaultvalue="Attitude,Attitude,Rate,Manual"
  23                 limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  24                         %NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  25                         %NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  26                         %NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
  27                         %0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
  28                         %0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
  29                         />
  30         <field name="Stabilization3Settings" units="" type="enum"
  31                 elementnames="Roll,Pitch,Yaw,Thrust"
  32                 options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
  33                 defaultvalue="Rate,Rate,Rate,Manual"
  34                 limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  35                         %NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  36                         %NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  37                         %NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
  38                         %0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
  39                         %0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
  40                         />
  41         <field name="Stabilization4Settings" units="" type="enum"
  42                 elementnames="Roll,Pitch,Yaw,Thrust"
  43                 options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
  44                 defaultvalue="Attitude,Attitude,AxisLock,CruiseControl"
  45                 limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  46                         %NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  47                         %NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  48                         %NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
  49                         %0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
  50                         %0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
  51                         />
  52         <field name="Stabilization5Settings" units="" type="enum"
  53                 elementnames="Roll,Pitch,Yaw,Thrust"
  54                 options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
  55                 defaultvalue="Attitude,Attitude,Rate,CruiseControl"
  56                 limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  57                         %NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  58                         %NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  59                         %NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
  60                         %0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
  61                         %0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
  62                         />
  63         <field name="Stabilization6Settings" units="" type="enum"
  64                 elementnames="Roll,Pitch,Yaw,Thrust"
  65                 options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
  66                 defaultvalue="Rate,Rate,Rate,CruiseControl"
  67                 limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  68                         %NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  69                         %NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
  70                         %NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
  71                         %0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
  72                         %0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
  73                         />
  74
  75         <!-- Note these options values should be identical to those defined in FlightMode -->
  76         <!-- Currently only some modes are enabled for UI using limits attribute per board. Update when more modes will be operational -->
  77         <field name="FlightModePosition"
  78                units=""
  79                type="enum"
  80                elements="6"
  81                options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,Autotune,PositionHold,PositionVarioFPV,PositionVarioLOS,PositionVarioNSEW,ReturnToBase,Land,PathPlanner,POI,AutoCruise"
  82                defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6"
  83                limits="\
  84                        %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
  85                        %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
  86                        %0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;\
  87                        \
  88                        %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
  89                        %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
  90                        %0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;\
  91                        \
  92                        %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
  93                        %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
  94                        %0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;\
  95                        \
  96                        %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
  97                        %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
  98                        %0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;\
  99                        \
 100                        %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
 101                        %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
 102                        %0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;\
 103                        \
 104                        %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
 105                        %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
 106                        %0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;"/>
 107
 108         <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
 109         <field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
 110         <field name="DisarmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
 111         <field name="DisableSanityChecks" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
 112         <field name="ReturnToBaseAltitudeOffset" units="m" type="float" elements="1" defaultvalue="10"/>
 113         <field name="LandingVelocity" units="m" type="float" elements="1" defaultvalue="0.4"/>
 114         <field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="10,2"/>
 115         <!-- optimized for current vtolpathfollower,
 116              for fixed wing pathfollower set to Horizontal=500,Vertical=5 -->
 117         <access gcs="readwrite" flight="readwrite"/>
 118         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
 119         <telemetryflight acked="true" updatemode="onchange" period="0"/>
 120         <logging updatemode="manual" period="0"/>
 121     </object>
 122 </xml>