2018-08-27 06:40:32 -03:00
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# 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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2018-09-27 06:03:59 -03:00
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regex: '[0-9A-Z_]+(\$\{i\}[0-9A-Z_]*)?_(CONFIG|CFG)'
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2018-08-27 06:40:32 -03:00
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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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2019-07-05 09:13:58 -03:00
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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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2018-08-27 06:40:32 -03:00
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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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2021-04-01 04:39:57 -03:00
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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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2018-08-27 06:40:32 -03:00
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2018-09-04 10:04:11 -03:00
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2018-08-27 06:40:32 -03:00
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parameters:
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2018-09-04 10:04:11 -03:00
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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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2018-08-27 06:40:32 -03:00
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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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2021-09-20 02:36:13 -03:00
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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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2018-09-04 10:04:11 -03:00
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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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2021-03-23 12:20:47 -03:00
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maxlength: 70
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regex: '[^\n]+'
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2018-09-04 10:04:11 -03:00
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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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2021-11-02 12:06:36 -03:00
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required: false
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2018-09-04 10:04:11 -03:00
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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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2019-09-02 13:27:51 -03:00
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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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2018-09-04 10:04:11 -03:00
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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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2020-08-24 06:33:08 -03:00
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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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2023-11-21 12:13:50 -04:00
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'hPa', 'kg', 'kg/m^2', 'kg m^2', 'kg/m^3',
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2020-08-24 06:33:08 -03:00
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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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2021-12-09 07:56:26 -04:00
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'Ohm', 'V', 'A',
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2020-08-24 06:33:08 -03:00
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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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2023-11-15 06:29:10 -04:00
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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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2020-08-24 06:33:08 -03:00
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'N/(m/s)', 'Nm/(rad/s)', 'Nm', 'N',
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2023-04-18 02:41:45 -03:00
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'rpm',
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2020-08-24 06:33:08 -03:00
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'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD']
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2018-09-04 10:04:11 -03:00
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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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2018-09-04 10:04:11 -03:00
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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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2021-04-01 04:39:57 -03:00
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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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2018-09-04 10:04:11 -03:00
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2021-09-20 02:36:13 -03:00
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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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2021-11-02 12:39:27 -03:00
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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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2021-11-08 06:25:03 -04:00
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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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2021-11-02 12:16:22 -03:00
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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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2021-09-20 02:36:13 -03:00
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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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2021-11-02 12:39:27 -03:00
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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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2021-09-20 02:36:13 -03:00
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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
|
|
|
|
|
max: 65536
|
|
|
|
|
max:
|
|
|
|
|
# Maximum minimum value
|
|
|
|
|
type: integer
|
|
|
|
|
min: 0
|
|
|
|
|
max: 65536
|
|
|
|
|
default:
|
|
|
|
|
# Default minimum value
|
|
|
|
|
type: integer
|
|
|
|
|
min: 0
|
|
|
|
|
max: 65536
|
2021-11-02 12:39:27 -03:00
|
|
|
show_if:
|
|
|
|
|
# ui only shows the param if this condition is true
|
|
|
|
|
type: string
|
|
|
|
|
regex: *condition_regex
|
2021-09-20 02:36:13 -03:00
|
|
|
max:
|
|
|
|
|
type: dict
|
|
|
|
|
schema:
|
|
|
|
|
min:
|
|
|
|
|
# Minimum maximum value
|
|
|
|
|
type: integer
|
|
|
|
|
min: 0
|
|
|
|
|
max: 65536
|
|
|
|
|
max:
|
|
|
|
|
# Maximum maximum value
|
|
|
|
|
type: integer
|
|
|
|
|
min: 0
|
|
|
|
|
max: 65536
|
|
|
|
|
default:
|
|
|
|
|
# Default maximum value
|
|
|
|
|
type: integer
|
|
|
|
|
min: 0
|
|
|
|
|
max: 65536
|
2021-11-02 12:39:27 -03:00
|
|
|
show_if:
|
|
|
|
|
# ui only shows the param if this condition is true
|
|
|
|
|
type: string
|
|
|
|
|
regex: *condition_regex
|
2021-09-20 02:36:13 -03:00
|
|
|
failsafe:
|
|
|
|
|
type: dict
|
|
|
|
|
schema:
|
|
|
|
|
min:
|
|
|
|
|
# Minimum failsafe value
|
|
|
|
|
type: integer
|
|
|
|
|
min: 0
|
|
|
|
|
max: 65536
|
|
|
|
|
max:
|
|
|
|
|
# Maximum failsafe value
|
|
|
|
|
type: integer
|
|
|
|
|
min: 0
|
|
|
|
|
max: 65536
|
2021-11-02 12:39:27 -03:00
|
|
|
show_if:
|
|
|
|
|
# ui only shows the param if this condition is true
|
|
|
|
|
type: string
|
|
|
|
|
regex: *condition_regex
|
2023-04-29 07:57:14 -03:00
|
|
|
custom_params:
|
|
|
|
|
type: list
|
|
|
|
|
schema: &mixer_parameter
|
|
|
|
|
type: dict
|
|
|
|
|
schema:
|
|
|
|
|
label:
|
|
|
|
|
type: string
|
|
|
|
|
name:
|
|
|
|
|
# param name
|
|
|
|
|
type: string
|
|
|
|
|
required: true
|
|
|
|
|
show_as:
|
|
|
|
|
type: string
|
|
|
|
|
allowed: [ 'bitset', 'true-if-positive' ]
|
|
|
|
|
show_if:
|
|
|
|
|
# condition
|
|
|
|
|
type: string
|
|
|
|
|
regex: *condition_regex
|
|
|
|
|
index_offset:
|
|
|
|
|
type: integer
|
|
|
|
|
advanced:
|
|
|
|
|
type: integer
|
|
|
|
|
function:
|
|
|
|
|
type: string
|
|
|
|
|
identifier:
|
|
|
|
|
# for rules
|
|
|
|
|
type: string
|
2021-09-20 02:36:13 -03:00
|
|
|
extra_function_groups:
|
|
|
|
|
# Additional function groups to add, defined in output_functions.yaml
|
|
|
|
|
type: list
|
|
|
|
|
schema:
|
|
|
|
|
type: string
|
|
|
|
|
channel_labels:
|
|
|
|
|
# Only used for 'pwm' generator, specifies PWM and Capture pins
|
|
|
|
|
type: list
|
|
|
|
|
minlength: 2
|
|
|
|
|
maxlength: 2
|
|
|
|
|
schema:
|
|
|
|
|
type: string
|
2021-10-05 08:36:28 -03:00
|
|
|
timer_config_file:
|
|
|
|
|
# Only used for 'pwm' generator, specifies
|
|
|
|
|
# board-specific timer_config.cpp file
|
|
|
|
|
type: string
|
2021-09-20 02:36:13 -03:00
|
|
|
pwm_timer_param:
|
|
|
|
|
# Only used for 'pwm' generator, per-timer config param
|
|
|
|
|
type: dict
|
|
|
|
|
schema: *parameter_definition
|
2021-11-02 12:39:27 -03:00
|
|
|
config_parameters:
|
|
|
|
|
# list of configuration parameters that apply to the
|
|
|
|
|
# group
|
|
|
|
|
type: list
|
|
|
|
|
minlength: 1
|
|
|
|
|
schema:
|
|
|
|
|
type: dict
|
|
|
|
|
schema:
|
|
|
|
|
param:
|
|
|
|
|
# parameter name
|
|
|
|
|
type: string
|
|
|
|
|
required: true
|
|
|
|
|
label:
|
|
|
|
|
# human-readable label
|
|
|
|
|
type: string
|
|
|
|
|
function:
|
|
|
|
|
type: string
|
|
|
|
|
allowed: [ primary ]
|
|
|
|
|
instance_start:
|
|
|
|
|
# The value of the first channel instance for multiple
|
|
|
|
|
# instances, used in '${i}'. If 0, ${i} expands to
|
|
|
|
|
# [0, N-1]
|
|
|
|
|
# Default: 1
|
|
|
|
|
type: integer
|
|
|
|
|
instance_start_label:
|
|
|
|
|
# Allows to use a different instance start for
|
|
|
|
|
# labels vs parameter name.
|
|
|
|
|
# Default: equal to 'instance_start'
|
|
|
|
|
type: integer
|
|
|
|
|
|
|
|
|
|
supported_actions:
|
|
|
|
|
# set of actuator actions supported by the driver
|
|
|
|
|
type: dict
|
|
|
|
|
keyschema:
|
|
|
|
|
# action name
|
|
|
|
|
type: string
|
|
|
|
|
regex: "^(beep|3d_mode_on|3d_mode_off|set_spin_direction1|set_spin_direction2)$"
|
|
|
|
|
valueschema:
|
|
|
|
|
type: dict
|
|
|
|
|
schema:
|
|
|
|
|
supported_if:
|
|
|
|
|
type: string
|
|
|
|
|
regex: *condition_regex
|
|
|
|
|
actuator_types:
|
|
|
|
|
type: list
|
|
|
|
|
minlength: 1
|
|
|
|
|
schema:
|
|
|
|
|
type: string
|
|
|
|
|
|
|
|
|
|
# Mixer (only set in control_allocator)
|
|
|
|
|
mixer:
|
|
|
|
|
type: dict
|
|
|
|
|
schema:
|
|
|
|
|
actuator_types:
|
|
|
|
|
type: dict
|
|
|
|
|
keyschema:
|
|
|
|
|
# actuator type name
|
|
|
|
|
type: string
|
|
|
|
|
valueschema:
|
|
|
|
|
type: dict
|
|
|
|
|
schema:
|
|
|
|
|
functions:
|
|
|
|
|
# Which output functions this maps to. Must be a name from
|
|
|
|
|
# output_functions.yaml
|
|
|
|
|
type: string
|
|
|
|
|
actuator_testing_values:
|
|
|
|
|
type: dict
|
|
|
|
|
schema:
|
|
|
|
|
min:
|
|
|
|
|
type: number
|
|
|
|
|
min: -1
|
|
|
|
|
max: 1
|
|
|
|
|
required: true
|
|
|
|
|
max:
|
|
|
|
|
type: number
|
|
|
|
|
min: -1
|
|
|
|
|
max: 1
|
|
|
|
|
required: true
|
|
|
|
|
default:
|
|
|
|
|
type: number
|
|
|
|
|
min: -1
|
|
|
|
|
max: 1
|
|
|
|
|
default_is_nan:
|
|
|
|
|
type: boolean
|
|
|
|
|
required: true
|
|
|
|
|
per_item_parameters:
|
|
|
|
|
type: list
|
|
|
|
|
minlength: 1
|
2023-04-29 07:57:14 -03:00
|
|
|
schema: *mixer_parameter
|
2021-11-24 05:49:12 -04:00
|
|
|
rules:
|
|
|
|
|
# mixer rules, validated by the mavlink actuator component information schema
|
|
|
|
|
type: list
|
2021-11-02 12:39:27 -03:00
|
|
|
config:
|
|
|
|
|
# Airframe types
|
|
|
|
|
type: dict
|
|
|
|
|
schema:
|
|
|
|
|
param:
|
|
|
|
|
# param name to configure the airframe type
|
|
|
|
|
type: string
|
|
|
|
|
types:
|
|
|
|
|
type: dict
|
|
|
|
|
keyschema:
|
|
|
|
|
# parameter value to select the airframe
|
|
|
|
|
type: integer
|
|
|
|
|
valueschema:
|
|
|
|
|
type: dict
|
|
|
|
|
schema:
|
|
|
|
|
type:
|
|
|
|
|
# geometry type (used for rendering a geometry, and
|
|
|
|
|
# show type-specific functionality)
|
|
|
|
|
type: string
|
|
|
|
|
allowed: [ multirotor ]
|
2022-02-16 06:02:53 -04:00
|
|
|
title:
|
|
|
|
|
type: string
|
2021-11-02 12:39:27 -03:00
|
|
|
actuators:
|
|
|
|
|
type: list
|
|
|
|
|
minlength: 1
|
|
|
|
|
schema:
|
|
|
|
|
type: dict
|
|
|
|
|
schema:
|
|
|
|
|
actuator_type:
|
|
|
|
|
type: string
|
2021-11-24 05:49:12 -04:00
|
|
|
group_label:
|
|
|
|
|
type: string
|
2021-11-02 12:39:27 -03:00
|
|
|
count:
|
|
|
|
|
# param name or fixed count
|
|
|
|
|
oneof:
|
|
|
|
|
- type: string
|
|
|
|
|
- type: integer
|
2021-11-29 08:50:09 -04:00
|
|
|
item_label_prefix:
|
|
|
|
|
# optional per-item label prefix list or (indexed) string
|
|
|
|
|
oneof:
|
|
|
|
|
- type: list
|
|
|
|
|
schema:
|
|
|
|
|
type: string
|
|
|
|
|
- type: string
|
2021-11-02 12:39:27 -03:00
|
|
|
parameters:
|
|
|
|
|
type: list
|
|
|
|
|
minlength: 1
|
|
|
|
|
schema: *mixer_parameter
|
|
|
|
|
per_item_parameters:
|
|
|
|
|
type: dict
|
|
|
|
|
schema:
|
|
|
|
|
standard:
|
|
|
|
|
type: dict
|
|
|
|
|
schema:
|
|
|
|
|
position:
|
|
|
|
|
type: list
|
|
|
|
|
minlength: 3
|
|
|
|
|
maxlength: 3
|
|
|
|
|
schema:
|
|
|
|
|
# position param names
|
|
|
|
|
type: string
|
2021-11-29 08:50:09 -04:00
|
|
|
index_offset:
|
|
|
|
|
type: integer
|
2021-11-02 12:39:27 -03:00
|
|
|
extra:
|
|
|
|
|
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
|
|
|
|
|
|
2018-08-27 06:40:32 -03:00
|
|
|
|
