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9a0241ac44
RC*_REV parameters are binary toggles (-1 or 1) immediately converted to bool. Using int32 allows reverting the module schema enum key type from number back to integer, keeping validation strict.
616 lines
29 KiB
YAML
616 lines
29 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', '1/s', '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', 'g0',
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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', 'dBHz',
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'1/s/sqrt(Hz)', 'liters']
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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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center:
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type: dict
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schema:
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min:
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# Minimum center 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 center 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 center 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
|
|
schema: *mixer_parameter
|
|
instances:
|
|
# non-configurable actuators (fixed positions)
|
|
type: list
|
|
schema:
|
|
type: dict
|
|
schema:
|
|
name:
|
|
type: string
|
|
required: true
|
|
position:
|
|
type: list
|
|
required: true
|
|
schema:
|
|
minlength: 3
|
|
maxlength: 3
|
|
type: number
|