mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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4b920a6628
goto control class handles smoothing of goto setpoints, outputs trajectory setpoint for mc pos control some minor encapsulation done in mc pos control for readability new param MPC_YAWAAUTO_MAX limiting heading accelerations in heading smoother
595 lines
27 KiB
YAML
595 lines
27 KiB
YAML
# Cerberus Validation Schema for module configuration files.
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# See http://docs.python-cerberus.org/en/stable/validation-rules.html
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module_name:
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# human-readable module name (used for descriptions, can contain spaces)
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type: string
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required: true
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serial_config:
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# UART configuration (optional)
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# A module can register autostart command(s) that are associated with a
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# configuration parameter, so that a user can select on which serial port to
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# run the command.
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# One or several commands can be defined.
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type: list
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minlength: 1
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schema:
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type: dict
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schema:
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command:
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# script command that is executed on autostart.
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# These variables can be used:
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# ${SERIAL_DEV} Serial device (e.g. /dev/ttyS1)
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# ${BAUD_PARAM} param name for the baudrate
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# ${i} instance in [0, N-1] (for multi-instance commands)
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# It's possible to use multiple lines.
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type: string
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required: true
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port_config_param:
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# Parameter definition to configure on which port to run the
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# command
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type: dict
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required: true
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schema:
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name:
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# Parameter name (e.g. TEL_FRSKY_CONFIG, MAV_${i}_CONFIG)
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type: string
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regex: '[0-9A-Z_]+(\$\{i\}[0-9A-Z_]*)?_(CONFIG|CFG)'
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required: true
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group:
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# Associated parameter group (e.g. GPS)
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type: string
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required: true
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default:
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# Default value(s). This can be a string to specify the
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# serial tag (e.g. GPS1, TEL1, ...) or a list of strings
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# for multiple instances.
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# If omitted, the command is disabled by default.
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anyof:
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- type: string
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- type: list
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minlength: 1
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schema:
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type: string
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depends_on_port:
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# Optional serial tag dependency (e.g. GPS1). If a board
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# does not specify this serial port, the parameter will
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# not be included in the build (i.e. it's not
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# configurable)
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type: string
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description_extended:
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# Optional extended description
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type: string
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label:
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# Optional command label (e.g. used in the autostart script).
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# If omitted, module_name is used.
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type: string
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num_instances:
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# Allow to configure and run multiple instances of a command.
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# For multiple instances, '${i}' can be used to refer to
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# an instance, for example in the parameter name or script
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# command.
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# Default: 1
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type: integer
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min: 1
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supports_networking:
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# set to true if the module supports networking (UDP)
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type: boolean
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parameters:
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# Parameter definitions.
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# This is a list of parameter groups, where each group has one or more
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# parameter definitions.
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type: list
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minlength: 1
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schema:
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type: dict
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schema:
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group:
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# Parameter group (should be short)
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# This applies to all parameters in the definitions dictionary
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type: string
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required: true
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definitions:
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type: dict
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keyschema:
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# Parameter name
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type: string
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regex: '[0-9A-Z_]+(\$\{i\}[0-9A-Z_]*)?'
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valueschema:
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type: dict # This can also be a list containing multiple definitions
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# (for multi-instance params with different instance_start)
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# Not currently used in any yaml config file.
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schema: ¶meter_definition
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description:
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type: dict
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required: true
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schema:
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short:
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# Short description (one line)
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type: string
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required: true
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maxlength: 70
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regex: '[^\n]+'
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long:
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# Long description (can be multiple lines)
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type: string
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required: false
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type:
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# Define the parameter type
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required: true
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type: string
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allowed: ['int32', 'float', 'boolean', 'enum', 'bitmask' ]
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min:
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# Optional minimum value (only for int32 or float)
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type: number
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max:
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# Optional maximum value (only for int32 or float)
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type: number
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decimal:
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# Optional number of decimal places to display (only for float)
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type: number
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increment:
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# Optional increment step size (for a GCS) (only for float)
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type: number
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unit:
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# Optional parameter unit (only for int32 or float)
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# (Extend this list as needed)
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type: string
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allowed: [
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'%', 'Hz', 'mAh',
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'rad', '%/rad', 'rad/s', 'rad/s^2', '%/rad/s', 'rad s^2/m','rad s/m',
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'bit/s', 'B/s',
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'deg', 'deg*1e7', 'deg/s', 'deg/s^2',
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'celcius', 'gauss', 'gauss/s', 'mgauss', 'mgauss^2',
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'hPa', 'kg', 'kg/m^2', 'kg m^2', 'kg/m^3',
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'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', 'm/s/rad',
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'Ohm', 'V', 'A',
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'us', 'ms', 's',
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'S', 'A/%', '(m/s^2)^2', 'm/m', 'tan(rad)^2', '(m/s)^2', 'm/rad',
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'm/s^3/sqrt(Hz)', 'm/s/sqrt(Hz)', 's/(1000*PWM)', '%m/s', 'min', 'us/C',
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'N/(m/s)', 'Nm/(rad/s)', 'Nm', 'N',
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'rpm',
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'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD']
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bit:
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# description of all bits for type bitmask.
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# The first bit is 0.
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type: dict
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keyschema:
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type: integer
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valueschema:
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type: string
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values:
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# enumeration of possible values for type enum
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type: dict
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keyschema:
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type: integer
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valueschema:
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type: string
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default:
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# Default value(s). This is an integer or a float,
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# or a list of values for multiple instances.
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required: true
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anyof:
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- type: boolean
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- type: number
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- type: list
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minlength: 1
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schema:
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anyof:
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- type: boolean
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- type: number
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- type: list
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category:
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# Optional parameter category
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type: string
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allowed: [ 'Developer', 'System' ]
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volatile:
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# Optional volatile flag. Set to true if the
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# parameter can be changed by the system
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# automatically
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type: boolean
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reboot_required:
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# set to true, if changing of the parameter requires
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# a reboot to take effect
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type: boolean
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num_instances:
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# Optional number of instances.
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# For multiple instances, '${i}' can be used to
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# refer to an instance, for example in the parameter
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# name or description.
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# Default: 1
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type: integer
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min: 1
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instance_start:
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# The value of the first instance for multiple
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# instances, used in '${i}'. If 0, ${i} expands to
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# [0, N-1]
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# Default: 0
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type: integer
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instance_start_label:
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# Allows to use a different instance start for
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# labels vs parameter name.
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# Default: equal to 'instance_start'
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type: integer
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requires_ethernet:
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# param is only added if the board has ethernet
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# support
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type: boolean
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# Configuration for output drivers
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actuator_output:
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type: dict
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schema:
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show_subgroups_if:
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# condition: ui only shows the groups if this condition is true
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# (e.g. 'UAVCAN_ENABLE>=3')
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type: string
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regex: &condition_regex "^(true|false|[\\.\\-a-zA-Z0-9_]{1,16}(>|>=|==|!=|<|<=)\\-?\\d+)$"
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config_parameters:
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# list of configuration parameters that apply to the whole module
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type: list
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minlength: 1
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schema:
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type: dict
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schema:
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param:
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# parameter name
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type: string
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required: true
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label:
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# human-readable label
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type: string
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function:
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type: string
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allowed: [ enable ]
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output_groups:
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type: list
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minlength: 1
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schema:
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type: dict
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schema:
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group_label:
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# Human-readable group label, e.g. 'ESCs'
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type: string
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generator:
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# Optional generator that uses additional information for
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# param generation (e.g. board-specific config)
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type: string
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allowed: [ pwm ]
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param_prefix:
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# parameter prefix for the min/max/disarmed/func params, e.g. PWM_MAIN.
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# This also needs to be specified in the source code.
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type: string
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regex: '([0-9A-Z_]+|\$\{PWM_MAIN_OR_AUX\})'
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required: true
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channel_label:
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# Human-readable per-channel label (index will be added), e.g. 'PWM Main'
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type: string
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channel_label_module_name_prefix:
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# by default, the module_name is prefixed to the
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# channel_label as part of the param description. Set
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# this to false to turn it off
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type: boolean
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num_channels:
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# (maximum) number of channels
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type: integer
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standard_params:
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type: dict
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schema:
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disarmed:
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type: dict
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schema:
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min:
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# Minimum disarmed value
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type: integer
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min: 0
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max: 65536
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max:
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# Maximum disarmed value
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type: integer
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min: 0
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max: 65536
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default:
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# Default disarmed value
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type: integer
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min: 0
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max: 65536
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show_if:
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# ui only shows the param if this condition is true
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type: string
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regex: *condition_regex
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min:
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type: dict
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schema:
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min:
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# Minimum minimum value
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type: integer
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min: 0
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max: 65536
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max:
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# Maximum minimum value
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type: integer
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min: 0
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max: 65536
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default:
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# Default minimum value
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type: integer
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min: 0
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max: 65536
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show_if:
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# ui only shows the param if this condition is true
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type: string
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regex: *condition_regex
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max:
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type: dict
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schema:
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min:
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# Minimum maximum value
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type: integer
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min: 0
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max: 65536
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max:
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# Maximum maximum value
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type: integer
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min: 0
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max: 65536
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default:
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# Default maximum value
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type: integer
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min: 0
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max: 65536
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show_if:
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# ui only shows the param if this condition is true
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type: string
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regex: *condition_regex
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failsafe:
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type: dict
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schema:
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min:
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# Minimum failsafe value
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type: integer
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min: 0
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max: 65536
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max:
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# Maximum failsafe value
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type: integer
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min: 0
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max: 65536
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show_if:
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# ui only shows the param if this condition is true
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type: string
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regex: *condition_regex
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custom_params:
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type: list
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schema: &mixer_parameter
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type: dict
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schema:
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label:
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type: string
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name:
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# param name
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type: string
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required: true
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show_as:
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type: string
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allowed: [ 'bitset', 'true-if-positive' ]
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show_if:
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# condition
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type: string
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regex: *condition_regex
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index_offset:
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type: integer
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advanced:
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type: integer
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function:
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type: string
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identifier:
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# for rules
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type: string
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extra_function_groups:
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# Additional function groups to add, defined in output_functions.yaml
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type: list
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schema:
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type: string
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channel_labels:
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# Only used for 'pwm' generator, specifies PWM and Capture pins
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type: list
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minlength: 2
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maxlength: 2
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schema:
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type: string
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timer_config_file:
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# Only used for 'pwm' generator, specifies
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# board-specific timer_config.cpp file
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type: string
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pwm_timer_param:
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# Only used for 'pwm' generator, per-timer config param
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type: dict
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schema: *parameter_definition
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config_parameters:
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# list of configuration parameters that apply to the
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# group
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type: list
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minlength: 1
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schema:
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type: dict
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schema:
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param:
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# parameter name
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type: string
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required: true
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label:
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# human-readable label
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type: string
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function:
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type: string
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allowed: [ primary ]
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instance_start:
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# The value of the first channel instance for multiple
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# instances, used in '${i}'. If 0, ${i} expands to
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# [0, N-1]
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# Default: 1
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type: integer
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instance_start_label:
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# Allows to use a different instance start for
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# labels vs parameter name.
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# Default: equal to 'instance_start'
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type: integer
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supported_actions:
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# set of actuator actions supported by the driver
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type: dict
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keyschema:
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# action name
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type: string
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regex: "^(beep|3d_mode_on|3d_mode_off|set_spin_direction1|set_spin_direction2)$"
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valueschema:
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type: dict
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schema:
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supported_if:
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type: string
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regex: *condition_regex
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actuator_types:
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type: list
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minlength: 1
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schema:
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type: string
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# Mixer (only set in control_allocator)
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mixer:
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type: dict
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schema:
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actuator_types:
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type: dict
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keyschema:
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# actuator type name
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type: string
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valueschema:
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type: dict
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schema:
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functions:
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# Which output functions this maps to. Must be a name from
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# output_functions.yaml
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type: string
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actuator_testing_values:
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type: dict
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schema:
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min:
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type: number
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min: -1
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max: 1
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required: true
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max:
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type: number
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min: -1
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max: 1
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required: true
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default:
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type: number
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min: -1
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max: 1
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default_is_nan:
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type: boolean
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required: true
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per_item_parameters:
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type: list
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minlength: 1
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schema: *mixer_parameter
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rules:
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# mixer rules, validated by the mavlink actuator component information schema
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type: list
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config:
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# Airframe types
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type: dict
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schema:
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param:
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# param name to configure the airframe type
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type: string
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types:
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type: dict
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keyschema:
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# parameter value to select the airframe
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type: integer
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valueschema:
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type: dict
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schema:
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type:
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# geometry type (used for rendering a geometry, and
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# show type-specific functionality)
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type: string
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allowed: [ multirotor ]
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title:
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type: string
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actuators:
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type: list
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minlength: 1
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schema:
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type: dict
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schema:
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actuator_type:
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type: string
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group_label:
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type: string
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count:
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# param name or fixed count
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oneof:
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- type: string
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- type: integer
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item_label_prefix:
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# optional per-item label prefix list or (indexed) string
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oneof:
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- type: list
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schema:
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type: string
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- type: string
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parameters:
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type: list
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minlength: 1
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schema: *mixer_parameter
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per_item_parameters:
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type: dict
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schema:
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standard:
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type: dict
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schema:
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position:
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type: list
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minlength: 3
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maxlength: 3
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schema:
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# position param names
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type: string
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index_offset:
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type: integer
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extra:
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type: list
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schema: *mixer_parameter
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instances:
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# non-configurable actuators (fixed positions)
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type: list
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schema:
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type: dict
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schema:
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name:
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type: string
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required: true
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position:
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type: list
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required: true
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schema:
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minlength: 3
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maxlength: 3
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type: number
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