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https://github.com/PX4/PX4-Autopilot.git
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module config: add generate_actuators_metadata.py script
This commit is contained in:
Beat Küng
@@ -228,12 +228,38 @@ parameters:
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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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@@ -277,6 +303,10 @@ actuator_output:
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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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@@ -295,6 +325,10 @@ actuator_output:
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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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@@ -313,6 +347,10 @@ actuator_output:
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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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@@ -326,6 +364,10 @@ actuator_output:
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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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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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@@ -346,4 +388,184 @@ actuator_output:
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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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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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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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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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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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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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extra:
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type: list
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schema: *mixer_parameter
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instances:
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# non-configurable actuators (fixed positions)
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type: list
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schema:
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type: dict
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schema:
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name:
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type: string
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required: true
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position:
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type: list
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required: true
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schema:
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minlength: 3
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maxlength: 3
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type: number
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