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