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drone: Update config specification

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This commit is contained in:
Arthur Golubtsov
2020-06-03 15:06:48 +03:00
parent d0e18b1a0b
commit 68bd099a24
1 changed files with 76 additions and 68 deletions
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144
drone/config/spec/configspec_client.ini
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@@ -1,5 +1,7 @@
config_name = string(default='client')
config_version = float(default=1.0)
# Available options: /hostname ; /default ; /ip ; any string 63 characters length
id = string(default=/hostname, max=63)
[SERVER]
port = integer(default=25000, min=1)
@@ -15,9 +17,78 @@ transmit = boolean(default=True)
frequency = float(default=1.0, min=0)
log_resources = boolean(default=False)
[POSITION WATCHDOG]
enabled = boolean(default=True)
log_state = boolean(default=True)
[FLIGHT]
frame_id = string(default=map)
arming_time = float(default=0.5)
takeoff_height = float(default=1.0)
takeoff_time = float(default=5.0, min=0)
reach_first_point_time = float(default=5.0, min=0)
land_delay = float(default=1.0, min=0)
land_timeout = float(default=10.0, min=0)
[FLOOR FRAME]
# Available options: map, aruco_map, gps, floor
parent = string(default=map)
# Frame translation (x, y, z)
# __list__ x y z
translation = float_list(default=list(0.0, 0.0, 0.0), min=3, max=3)
# Frame rotation (roll, pitch, yaw) in degrees
# __list__ roll pitch yaw
rotation = float_list(default=list(0.0, 0.0, 0.0), min=3, max=3)
[GPS FRAME]
lat = string(default=0)
lon = string(default=0)
yaw = float(default=0)
[ANIMATION]
# Available options:
# 'auto' - automatic action selection from 'takeoff' or 'fly' based on current copter level
# if (start animation point z) - (current height of copter) > (takeoff level) then
# start_action is set to 'takeoff', else start_action is set to 'fly'
# 'takeoff' - takeoff to first output animation point after static_begin_time then execute 'takeoff logic'
# 'fly' - execute animation frames after static_begin_time
start_action = string(default=auto)
# Takeoff level to set start action automatically
takeoff_level = float(default=0.5)
# Available options:
# * 'current' - current height of copter
# * z coordinate in meters
ground_level = string(default=current)
# Frame delay in seconds
frame_delay = float(default=0.1, min=0.01)
# Available options:
# * 'animation' - take yaw from animation
# * 'nan' - don't change yaw during flight
# * a number in degrees
yaw = string(default=nan)
# Animation ratio (x, y, z)
# __list__ x y z
ratio = float_list(default=list(1.0, 1.0, 1.0), min=3, max=3)
# Drone's animation individual offset (x, y, z)
# __list__ x y z
private_offset = float_list(default=list(0, 0, 0), min=3, max=3)
# Drone's animation common offset
# __list__ x y z
common_offset = float_list(default=list(0, 0, 0), min=3, max=3)
# Flags for output frames
[[OUTPUT]]
static_begin = boolean(default=False)
takeoff = boolean(default=True)
route = boolean(default=True)
land = boolean(default=False)
static_end = boolean(default=False)
[LED]
use = boolean(default=False)
pin = integer(default=21, min=0, max=100)
count = integer(default=60, min=1)
takeoff_indication = boolean(default=True)
land_indication = boolean(default=True)
[FAILSAFE]
enabled = boolean(default=False)
log_state = boolean(default=False)
# Available options: emergency_land, land, disarm
action = string(default=emergency_land)
# Time to get vision position after arm
@@ -37,72 +108,9 @@ disarm_timeout = float(default=10.0, min=0)
thrust = float(default=0.45, min=0, max=1)
decrease_thrust_after = float(default=5.0, min=0)
[COPTER]
frame_id = string(default=map)
arming_time = float(default=0.5)
takeoff_height = float(default=1.0)
takeoff_time = float(default=5.0, min=0)
reach_first_point_time = float(default=5.0, min=0)
land_delay = float(default=1.0, min=0)
land_timeout = float(default=10.0, min=0)
# __list__ x y z
common_offset = float_list(default=list(0, 0, 0), min=3, max=3)
[FLOOR FRAME]
parent = string(default=map)
# Frame translation (x, y, z)
# __list__ x y z
translation = float_list(default=list(0.0, 0.0, 0.0), min=3, max=3)
# Frame rotation (roll, pitch, yaw) in degrees
# __list__ roll pitch yaw
rotation = float_list(default=list(0.0, 0.0, 0.0), min=3, max=3)
[GPS FRAME]
lat = string(default=0)
lon = string(default=0)
yaw = float(default=0)
[ANIMATION]
# Available options:
# 'auto' - automatic action selection from 'takeoff' or 'fly' based on current copter level
# 'takeoff' - takeoff to first output animation point after static_begin_time then execute 'takeoff logic'
# 'fly' - execute animation frames after static_begin_time
start_action = string(default=auto)
takeoff_level = float(default=0.5)
ground_level = float(default=0)
frame_delay = float(default=0.1, min=0.01)
# Animation ratio (x, y, z)
# __list__ x y z
ratio = float_list(default=list(1.0, 1.0, 1.0), min=3, max=3)
# Available options:
# 'animation' - take yaw from animation
# 'nan' - don't change yaw during flight
# or a number in degrees
yaw = string(default=180.0)
[[OUTPUT]]
static_begin = boolean(default=False)
takeoff = boolean(default=True)
route = boolean(default=True)
land = boolean(default=False)
static_end = boolean(default=False)
[LED]
use = boolean(default=False)
pin = integer(default=21, min=0, max=100)
count = integer(default=60, min=1)
takeoff_indication = boolean(default=True)
land_indication = boolean(default=True)
[PRIVATE]
# Available options: /hostname ; /default ; /ip ; any string 63 characters length
id = string(default=/hostname, max=63) #TODO our re check
# Drone's individual offset (x, y, z)
# __list__ x y z
offset = float_list(default=list(0, 0, 0), min=3, max=3)
[SYSTEM]
change_hostname = boolean(default=True)
restart_after_rename = boolean(default=True)
change_hostname = boolean(default=False)
restart_after_rename = boolean(default=False)
[NTP]
use = boolean(default=False)