77 lines
1.7 KiB
TOML
77 lines
1.7 KiB
TOML
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# FMT System Configuration File
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# The target should match with BSP's target name
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target = "Amov-ICF5"
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# Console Configuration
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[console]
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[[console.devices]]
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type = "serial"
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name = "serial0"
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baudrate = 57600
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auto-switch = true
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[[console.devices]]
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type = "mavlink"
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name = "mav_console"
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auto-switch = true
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# Mavproxy Device Configuration
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[mavproxy]
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[[mavproxy.devices]]
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chan = 0
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type = "serial"
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name = "serial1"
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baudrate = 57600
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[[mavproxy.devices]]
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chan = 1
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type = "usb"
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name = "usbd0"
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# Pilot CMD Configuration
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[pilot-cmd]
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# channel mapping for [yaw, throttle, roll, pitch]
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stick-channel = [4,3,1,2]
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[pilot-cmd.device]
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type = "rc"
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name = "rc"
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protocol = "auto" # auto/sbus/ppm
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channel-num = 8 # max supported channel: sbus:16, ppm:8
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sample-time = 0.05 # sample time in second (-1 for inherit)
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range = [1000,2000]
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[[pilot-cmd.mode]]
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mode = 5 # Position mode
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channel = 5
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range = [1000,1300]
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[[pilot-cmd.mode]]
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mode = 4 # Altitude mode
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channel = 5
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range = [1400,1600]
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[[pilot-cmd.mode]]
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mode = 7 # Offboard mode
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channel = 5
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range = [1700,2000]
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[[pilot-cmd.command]]
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type = 1 # 1:event | 2:status
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cmd = 1002 # FMS_Cmd_Disarm
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channel = 6
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range = [1800,2000]
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# Actuator Configuration
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[actuator]
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[[actuator.devices]]
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protocol = "pwm"
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name = "main_out"
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freq = 400 # pwm frequency in Hz
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[[actuator.mappings]]
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from = "control_out"
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to = "main_out"
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chan-map = [[1,2,3,4,5,6],[1,2,3,4,5,6]]
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