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px4_autopilot/validation/module_schema.yaml

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# 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: &parameter_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',
'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',
'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
# automatially
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
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
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
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 ]
actuators:
type: list
minlength: 1
schema:
type: dict
schema:
actuator_type:
type: string
count:
# param name or fixed count
oneof:
- type: string
- type: integer
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
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