px4-firmware/Documentation/control_flow.graffle

16651 lines
475 KiB
XML

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<key>Wrap</key>
<string>NO</string>
</dict>
<dict>
<key>Bounds</key>
<string>{{152.49994329565658, 397.00120984204113}, {116, 24}}</string>
<key>Class</key>
<string>ShapedGraphic</string>
<key>FitText</key>
<string>YES</string>
<key>Flow</key>
<string>Resize</string>
<key>FontInfo</key>
<dict>
<key>Color</key>
<dict>
<key>w</key>
<string>0</string>
</dict>
<key>Font</key>
<string>Helvetica</string>
<key>Size</key>
<real>12</real>
</dict>
<key>ID</key>
<integer>24</integer>
<key>Line</key>
<dict>
<key>ID</key>
<integer>17</integer>
<key>Position</key>
<real>0.49406537413597107</real>
<key>RotationType</key>
<integer>0</integer>
</dict>
<key>Shape</key>
<string>Rectangle</string>
<key>Style</key>
<dict>
<key>shadow</key>
<dict>
<key>Draws</key>
<string>NO</string>
</dict>
<key>stroke</key>
<dict>
<key>Draws</key>
<string>NO</string>
</dict>
</dict>
<key>Text</key>
<dict>
<key>Text</key>
<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
{\colortbl;\red255\green255\blue255;}
\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
\f0\fs24 \cf0 if in stabilized mode}</string>
</dict>
<key>Wrap</key>
<string>NO</string>
</dict>
<dict>
<key>Class</key>
<string>LineGraphic</string>
<key>Head</key>
<dict>
<key>ID</key>
<integer>21</integer>
</dict>
<key>ID</key>
<integer>23</integer>
<key>OrthogonalBarAutomatic</key>
<true/>
<key>OrthogonalBarPoint</key>
<string>{0, 0}</string>
<key>OrthogonalBarPosition</key>
<real>-1</real>
<key>Points</key>
<array>
<string>{584.49994992834695, 220}</string>
<string>{584.4997453697481, 348.6875000000008}</string>
</array>
<key>Style</key>
<dict>
<key>stroke</key>
<dict>
<key>HeadArrow</key>
<string>FilledArrow</string>
<key>Legacy</key>
<true/>
<key>LineType</key>
<integer>2</integer>
<key>TailArrow</key>
<string>0</string>
</dict>
</dict>
<key>Tail</key>
<dict>
<key>ID</key>
<integer>11</integer>
</dict>
</dict>
<dict>
<key>Class</key>
<string>LineGraphic</string>
<key>Head</key>
<dict>
<key>ID</key>
<integer>10</integer>
</dict>
<key>ID</key>
<integer>22</integer>
<key>OrthogonalBarAutomatic</key>
<true/>
<key>OrthogonalBarPoint</key>
<string>{0, 0}</string>
<key>OrthogonalBarPosition</key>
<real>33.206413269042969</real>
<key>Points</key>
<array>
<string>{583.83119320765968, 385.68717359526977}</string>
<string>{581, 464}</string>
<string>{283.49994000956832, 464.30111342104294}</string>
</array>
<key>Style</key>
<dict>
<key>stroke</key>
<dict>
<key>HeadArrow</key>
<string>FilledArrow</string>
<key>Legacy</key>
<true/>
<key>LineType</key>
<integer>2</integer>
<key>Pattern</key>
<integer>2</integer>
<key>TailArrow</key>
<string>0</string>
</dict>
</dict>
<key>Tail</key>
<dict>
<key>ID</key>
<integer>21</integer>
</dict>
</dict>
<dict>
<key>Bounds</key>
<string>{{482, 349.1875}, {205, 36}}</string>
<key>Class</key>
<string>ShapedGraphic</string>
<key>FontInfo</key>
<dict>
<key>Font</key>
<string>Helvetica</string>
<key>Size</key>
<real>12</real>
</dict>
<key>ID</key>
<integer>21</integer>
<key>Shape</key>
<string>Rectangle</string>
<key>Style</key>
<dict>
<key>stroke</key>
<dict>
<key>CornerRadius</key>
<real>9</real>
</dict>
</dict>
<key>Text</key>
<dict>
<key>Text</key>
<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
{\colortbl;\red255\green255\blue255;}
\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
\f0\i\fs24 \cf0 VEHICLE_ATTITUDE_SETPOINT}</string>
</dict>
</dict>
<dict>
<key>Class</key>
<string>LineGraphic</string>
<key>Head</key>
<dict>
<key>ID</key>
<integer>10</integer>
</dict>
<key>ID</key>
<integer>17</integer>
<key>Points</key>
<array>
<string>{210.49997491180866, 385.6875}</string>
<string>{210.49991091996927, 432.875}</string>
</array>
<key>Style</key>
<dict>
<key>stroke</key>
<dict>
<key>HeadArrow</key>
<string>FilledArrow</string>
<key>Legacy</key>
<true/>
<key>LineType</key>
<integer>1</integer>
<key>Pattern</key>
<integer>2</integer>
<key>TailArrow</key>
<string>0</string>
</dict>
</dict>
<key>Tail</key>
<dict>
<key>ID</key>
<integer>6</integer>
</dict>
</dict>
<dict>
<key>Class</key>
<string>LineGraphic</string>
<key>Head</key>
<dict>
<key>ID</key>
<integer>5</integer>
</dict>
<key>ID</key>
<integer>16</integer>
<key>Points</key>
<array>
<string>{283.49999999999511, 270.00001907176534}</string>
<string>{339.50000000000028, 270.00001907176534}</string>
</array>
<key>Style</key>
<dict>
<key>stroke</key>
<dict>
<key>HeadArrow</key>
<string>FilledArrow</string>
<key>Legacy</key>
<true/>
<key>LineType</key>
<integer>1</integer>
<key>TailArrow</key>
<string>0</string>
</dict>
</dict>
<key>Tail</key>
<dict>
<key>ID</key>
<integer>9</integer>
</dict>
</dict>
<dict>
<key>Class</key>
<string>LineGraphic</string>
<key>Head</key>
<dict>
<key>ID</key>
<integer>6</integer>
</dict>
<key>ID</key>
<integer>15</integer>
<key>Points</key>
<array>
<string>{210.49998770563047, 301.5}</string>
<string>{210.49998770563047, 348.6875}</string>
</array>
<key>Style</key>
<dict>
<key>stroke</key>
<dict>
<key>HeadArrow</key>
<string>FilledArrow</string>
<key>Legacy</key>
<true/>
<key>LineType</key>
<integer>1</integer>
<key>TailArrow</key>
<string>0</string>
</dict>
</dict>
<key>Tail</key>
<dict>
<key>ID</key>
<integer>9</integer>
</dict>
</dict>
<dict>
<key>Class</key>
<string>LineGraphic</string>
<key>Head</key>
<dict>
<key>ID</key>
<integer>9</integer>
</dict>
<key>ID</key>
<integer>13</integer>
<key>Points</key>
<array>
<string>{210.49171354592596, 207}</string>
<string>{210.49498558851923, 238.4999999999998}</string>
</array>
<key>Style</key>
<dict>
<key>stroke</key>
<dict>
<key>HeadArrow</key>
<string>FilledArrow</string>
<key>Legacy</key>
<true/>
<key>LineType</key>
<integer>1</integer>
<key>TailArrow</key>
<string>0</string>
</dict>
</dict>
<key>Tail</key>
<dict>
<key>ID</key>
<integer>4</integer>
</dict>
</dict>
<dict>
<key>Class</key>
<string>LineGraphic</string>
<key>Head</key>
<dict>
<key>ID</key>
<integer>4</integer>
</dict>
<key>ID</key>
<integer>12</integer>
<key>Points</key>
<array>
<string>{210.49498558851246, 138.5000000000002}</string>
<string>{210.48997117702493, 170.00000000001342}</string>
</array>
<key>Style</key>
<dict>
<key>stroke</key>
<dict>
<key>HeadArrow</key>
<string>FilledArrow</string>
<key>Legacy</key>
<true/>
<key>LineType</key>
<integer>1</integer>
<key>TailArrow</key>
<string>0</string>
</dict>
</dict>
<key>Tail</key>
<dict>
<key>ID</key>
<integer>8</integer>
</dict>
</dict>
<dict>
<key>Bounds</key>
<string>{{512, 157.5}, {145, 62}}</string>
<key>Class</key>
<string>ShapedGraphic</string>
<key>FontInfo</key>
<dict>
<key>Font</key>
<string>Helvetica</string>
<key>Size</key>
<real>12</real>
</dict>
<key>ID</key>
<integer>11</integer>
<key>Shape</key>
<string>RoundRect</string>
<key>Style</key>
<dict>
<key>fill</key>
<dict>
<key>Color</key>
<dict>
<key>b</key>
<string>0.999136</string>
<key>g</key>
<string>0.808554</string>
<key>r</key>
<string>0.587078</string>
</dict>
</dict>
</dict>
<key>Text</key>
<dict>
<key>Text</key>
<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
{\colortbl;\red255\green255\blue255;}
\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
\f0\fs24 \cf0 Position Controller}</string>
<key>VerticalPad</key>
<integer>0</integer>
</dict>
</dict>
<dict>
<key>Bounds</key>
<string>{{138, 433.375}, {145, 62}}</string>
<key>Class</key>
<string>ShapedGraphic</string>
<key>FontInfo</key>
<dict>
<key>Font</key>
<string>Helvetica</string>
<key>Size</key>
<real>12</real>
</dict>
<key>ID</key>
<integer>10</integer>
<key>Shape</key>
<string>RoundRect</string>
<key>Style</key>
<dict>
<key>fill</key>
<dict>
<key>Color</key>
<dict>
<key>b</key>
<string>1</string>
<key>g</key>
<string>0.814996</string>
<key>r</key>
<string>0.627106</string>
</dict>
</dict>
</dict>
<key>Text</key>
<dict>
<key>Text</key>
<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
{\colortbl;\red255\green255\blue255;}
\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
\f0\fs24 \cf0 Attitude Controller}</string>
<key>VerticalPad</key>
<integer>0</integer>
</dict>
</dict>
<dict>
<key>Bounds</key>
<string>{{138, 239}, {145, 62}}</string>
<key>Class</key>
<string>ShapedGraphic</string>
<key>FontInfo</key>
<dict>
<key>Font</key>
<string>Helvetica</string>
<key>Size</key>
<real>12</real>
</dict>
<key>ID</key>
<integer>9</integer>
<key>Shape</key>
<string>RoundRect</string>
<key>Style</key>
<dict>
<key>fill</key>
<dict>
<key>Color</key>
<dict>
<key>b</key>
<string>0.366082</string>
<key>g</key>
<string>0.639788</string>
<key>r</key>
<string>1</string>
</dict>
</dict>
</dict>
<key>Text</key>
<dict>
<key>Text</key>
<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
{\colortbl;\red255\green255\blue255;}
\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
\f0\fs24 \cf0 RC scaling and function mapping}</string>
<key>VerticalPad</key>
<integer>0</integer>
</dict>
</dict>
<dict>
<key>Bounds</key>
<string>{{138, 76}, {145, 62}}</string>
<key>Class</key>
<string>ShapedGraphic</string>
<key>FontInfo</key>
<dict>
<key>Font</key>
<string>Helvetica</string>
<key>Size</key>
<real>12</real>
</dict>
<key>ID</key>
<integer>8</integer>
<key>Shape</key>
<string>RoundRect</string>
<key>Style</key>
<dict>
<key>fill</key>
<dict>
<key>Color</key>
<dict>
<key>b</key>
<string>0.324773</string>
<key>g</key>
<string>0.632962</string>
<key>r</key>
<string>0.99252</string>
</dict>
</dict>
</dict>
<key>Text</key>
<dict>
<key>Text</key>
<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
{\colortbl;\red255\green255\blue255;}
\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
\f0\fs24 \cf0 RC Input\
PX4IO or PX4FMU}</string>
<key>VerticalPad</key>
<integer>0</integer>
</dict>
</dict>
<dict>
<key>Bounds</key>
<string>{{108, 349.1875}, {205, 36}}</string>
<key>Class</key>
<string>ShapedGraphic</string>
<key>FontInfo</key>
<dict>
<key>Font</key>
<string>Helvetica</string>
<key>Size</key>
<real>12</real>
</dict>
<key>ID</key>
<integer>6</integer>
<key>Shape</key>
<string>Rectangle</string>
<key>Style</key>
<dict>
<key>stroke</key>
<dict>
<key>CornerRadius</key>
<real>9</real>
</dict>
</dict>
<key>Text</key>
<dict>
<key>Text</key>
<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
{\colortbl;\red255\green255\blue255;}
\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
\f0\i\fs24 \cf0 MANUAL_CONTROL_SETPOINT}</string>
</dict>
</dict>
<dict>
<key>Bounds</key>
<string>{{340, 252}, {115, 36}}</string>
<key>Class</key>
<string>ShapedGraphic</string>
<key>FontInfo</key>
<dict>
<key>Font</key>
<string>Helvetica</string>
<key>Size</key>
<real>12</real>
</dict>
<key>ID</key>
<integer>5</integer>
<key>Shape</key>
<string>Rectangle</string>
<key>Style</key>
<dict>
<key>stroke</key>
<dict>
<key>CornerRadius</key>
<real>9</real>
</dict>
</dict>
<key>Text</key>
<dict>
<key>Text</key>
<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
{\colortbl;\red255\green255\blue255;}
\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
\f0\i\fs24 \cf0 RC_CHANNELS}</string>
</dict>
</dict>
<dict>
<key>Bounds</key>
<string>{{108, 170.5}, {204.97958374023438, 36}}</string>
<key>Class</key>
<string>ShapedGraphic</string>
<key>FontInfo</key>
<dict>
<key>Font</key>
<string>Helvetica</string>
<key>Size</key>
<real>12</real>
</dict>
<key>ID</key>
<integer>4</integer>
<key>Shape</key>
<string>Rectangle</string>
<key>Style</key>
<dict>
<key>stroke</key>
<dict>
<key>CornerRadius</key>
<real>9</real>
</dict>
</dict>
<key>Text</key>
<dict>
<key>Text</key>
<string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370
\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
{\colortbl;\red255\green255\blue255;}
\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc
\f0\i\fs24 \cf0 INPUT_RC}</string>
</dict>
</dict>
</array>
<key>GridInfo</key>
<dict/>
<key>HPages</key>
<integer>1</integer>
<key>KeepToScale</key>
<false/>
<key>Layers</key>
<array>
<dict>
<key>Lock</key>
<string>NO</string>
<key>Name</key>
<string>Layer 1</string>
<key>Print</key>
<string>YES</string>
<key>View</key>
<string>YES</string>
</dict>
</array>
<key>LayoutInfo</key>
<dict>
<key>Animate</key>
<string>NO</string>
<key>circoMinDist</key>
<real>18</real>
<key>circoSeparation</key>
<real>0.0</real>
<key>layoutEngine</key>
<string>dot</string>
<key>neatoSeparation</key>
<real>0.0</real>
<key>twopiSeparation</key>
<real>0.0</real>
</dict>
<key>Orientation</key>
<integer>2</integer>
<key>PrintOnePage</key>
<false/>
<key>RowAlign</key>
<integer>1</integer>
<key>RowSpacing</key>
<real>36</real>
<key>SheetTitle</key>
<string>Canvas 1</string>
<key>UniqueID</key>
<integer>1</integer>
<key>VPages</key>
<integer>1</integer>
</dict>
<dict>
<key>ActiveLayerIndex</key>
<integer>0</integer>
<key>AutoAdjust</key>
<true/>
<key>BackgroundGraphic</key>
<dict>
<key>Bounds</key>
<string>{{0, 0}, {806, 1132}}</string>
<key>Class</key>
<string>SolidGraphic</string>
<key>ID</key>
<integer>2</integer>
<key>Style</key>
<dict>
<key>shadow</key>
<dict>
<key>Draws</key>
<string>NO</string>
</dict>
<key>stroke</key>
<dict>
<key>Draws</key>
<string>NO</string>
</dict>
</dict>
</dict>
<key>BaseZoom</key>
<integer>0</integer>
<key>CanvasOrigin</key>
<string>{0, 0}</string>
<key>ColumnAlign</key>
<integer>1</integer>
<key>ColumnSpacing</key>
<real>36</real>
<key>DisplayScale</key>
<string>1 0/72 in = 1.0000 in</string>
<key>GraphicsList</key>
<array>
<dict>
<key>Bounds</key>
<string>{{129, 170}, {83, 44}}</string>
<key>Class</key>
<string>ShapedGraphic</string>
<key>ID</key>
<integer>4</integer>
<key>Shape</key>
<string>Rectangle</string>
<key>Style</key>
<dict>
<key>stroke</key>
<dict>
<key>CornerRadius</key>
<real>9</real>
</dict>
</dict>
</dict>
</array>
<key>GridInfo</key>
<dict/>
<key>HPages</key>
<integer>1</integer>
<key>KeepToScale</key>
<false/>
<key>Layers</key>
<array>
<dict>
<key>Lock</key>
<string>NO</string>
<key>Name</key>
<string>Layer 1</string>
<key>Print</key>
<string>YES</string>
<key>View</key>
<string>YES</string>
</dict>
</array>
<key>LayoutInfo</key>
<dict>
<key>Animate</key>
<string>NO</string>
<key>circoMinDist</key>
<real>18</real>
<key>circoSeparation</key>
<real>0.0</real>
<key>layoutEngine</key>
<string>dot</string>
<key>neatoSeparation</key>
<real>0.0</real>
<key>twopiSeparation</key>
<real>0.0</real>
</dict>
<key>Orientation</key>
<integer>2</integer>
<key>PrintOnePage</key>
<false/>
<key>RowAlign</key>
<integer>1</integer>
<key>RowSpacing</key>
<real>36</real>
<key>SheetTitle</key>
<string>Remote Control</string>
<key>UniqueID</key>
<integer>5</integer>
<key>VPages</key>
<integer>1</integer>
</dict>
<dict>
<key>ActiveLayerIndex</key>
<integer>0</integer>
<key>AutoAdjust</key>
<true/>
<key>BackgroundGraphic</key>
<dict>
<key>Bounds</key>
<string>{{0, 0}, {806, 1132}}</string>
<key>Class</key>
<string>SolidGraphic</string>
<key>ID</key>
<integer>2</integer>
<key>Style</key>
<dict>
<key>shadow</key>
<dict>
<key>Draws</key>
<string>NO</string>
</dict>
<key>stroke</key>
<dict>
<key>Draws</key>
<string>NO</string>
</dict>
</dict>
</dict>
<key>BaseZoom</key>
<integer>0</integer>
<key>CanvasOrigin</key>
<string>{0, 0}</string>
<key>ColumnAlign</key>
<integer>1</integer>
<key>ColumnSpacing</key>
<real>36</real>
<key>DisplayScale</key>
<string>1 0/72 in = 1.0000 in</string>
<key>GraphicsList</key>
<array>
<dict>
<key>Class</key>
<string>Group</string>
<key>Graphics</key>
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<false/>
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<key>Lock</key>
<string>NO</string>
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<string>YES</string>
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<dict>
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<key>ZoomValues</key>
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<array>
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<array>
<string>Remote Control</string>
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