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okalachevokalachev
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Add parameters metadata for qgc
Handle COMPONENT_METADATA requests from gcs, providing a manually written (for now) static metadata urls.
1 parent eb0018a commit 756a400

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‎.github/workflows/tools.yml‎

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@@ -7,6 +7,12 @@ on:
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branches: [ master ]
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jobs:
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metadata:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v7
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- name: Check metadata
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run: tools/metadata.py
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csv_to_ulog:
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runs-on: ubuntu-latest
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steps:

‎flix/mavlink.ino‎

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@@ -268,6 +268,15 @@ int handleMavlinkCommand(const void *_m) {
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return MAV_RESULT_ACCEPTED;
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}
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if (m.command == MAV_CMD_REQUEST_MESSAGE && m.param1 == MAVLINK_MSG_ID_COMPONENT_METADATA) {
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mavlink_message_t response;
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mavlink_msg_component_metadata_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &response, t * 1000,
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2566517357, // crc
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"https://quadcopter.dev/meta/2566517357/general.json");
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sendMessage(&response);
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return MAV_RESULT_ACCEPTED;
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}
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if (m.command == MAV_CMD_COMPONENT_ARM_DISARM) {
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if (m.param1 == 1 && controlThrottle > 0.05) return MAV_RESULT_DENIED; // don't arm if throttle is not low
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armed = m.param1 == 1;

‎tools/general.json‎

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{
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"version": 1,
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"metadataTypes": [
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{
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"type": 1,
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"uri": "https://quadcopter.dev/meta/3307474483/parameters.json",
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"fileCrc": 3307474483
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}
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]
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}

‎tools/metadata.py‎

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#!/usr/bin/env python3
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# Script for checking the metadata files
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import sys
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import re
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from pathlib import Path
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import json
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import zlib
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import requests
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def mavlink_crc323(data: bytes) -> int:
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return (zlib.crc32(data, 0xFFFFFFFF) ^ 0xFFFFFFFF) & 0xFFFFFFFF
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parameter_regexp = re.compile(r'^\s+\{"(?P<name>[^"]+)",\s*&(?P<variable>[^,]+)(.*)\},?$', re.MULTILINE)
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parameters_source_file = Path(__file__).parent.parent / 'flix' / 'parameters.ino'
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parameters_code = parameters_source_file.read_text()
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parameters_meta_file = Path(__file__).parent / 'parameters.json'
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parameters_meta = json.loads(parameters_meta_file.read_text())
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assert parameters_meta['version'] == 1
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parameters = parameter_regexp.finditer(parameters_code)
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for parameter in parameters:
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name = parameter.group('name')
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variable = parameter.group('variable')
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for meta in parameters_meta['parameters']:
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name_meta = meta['name']
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regex = re.sub(r'\{[^\}]+\}', r'.*', name_meta) # handle {n} wildcards
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if re.fullmatch(regex, name):
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break
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else:
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raise RuntimeError(f'Parameter {name} is missing in parameters.json')
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general_meta_file = Path(__file__).parent / 'general.json'
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general_crc = mavlink_crc323(general_meta_file.read_bytes())
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general_data = json.loads(general_meta_file.read_text())
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parameters_crc = mavlink_crc323(parameters_meta_file.read_bytes())
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general_url = f'https://quadcopter.dev/meta/{general_crc}/general.json'
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parameters_url = f'https://quadcopter.dev/meta/{parameters_crc}/parameters.json'
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print(f'General CRC: {general_crc}')
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print(f'Parameters CRC: {mavlink_crc323(parameters_meta_file.read_bytes())}')
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print(f'General URL: {general_url}')
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print(f'Parameters URL: {parameters_url}')
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code = 0
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assert general_data['version'] == 1
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for meta in general_data['metadataTypes']:
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if meta['type'] == 1:
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if meta['uri'] != parameters_url:
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print(f'ERROR: Parameters URI should be {parameters_url}')
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code = 1
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if meta['fileCrc'] != parameters_crc:
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print(f'ERROR: Parameters CRC shoule be {parameters_crc}')
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code = 1
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break
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else:
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print('ERROR: Parameters metadata not found in general.json')
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code = 1
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resp = requests.get(general_url, allow_redirects=True)
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resp.raise_for_status()
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assert resp.json() == general_data
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resp = requests.get(parameters_url, allow_redirects=True)
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resp.raise_for_status()
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assert resp.json() == parameters_meta
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if code == 0:
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print('Everything is good')
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sys.exit(code)

‎tools/parameters.json‎

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{
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"version": 1,
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"parameters": [
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{ "name": "CTL_RATE_R_P", "type": "Float", "group": "Control", "shortDesc": "Proportional gain for roll rate" },
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{ "name": "CTL_RATE_R_I", "type": "Float", "group": "Control", "shortDesc": "Integral gain for roll rate" },
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{ "name": "CTL_RATE_R_D", "type": "Float", "group": "Control", "shortDesc": "Derivative gain for roll rate" },
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{ "name": "CTL_RATE_R_WU", "type": "Float", "group": "Control", "shortDesc": "Integral windup limit for roll rate" },
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{ "name": "CTL_RATE_R_D_A", "type": "Float", "group": "Control", "shortDesc": "Low-pass filter alpha for roll rate" },
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{ "name": "CTL_RATE_P_P", "type": "Float", "group": "Control", "shortDesc": "Proportional gain for pitch rate" },
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{ "name": "CTL_RATE_P_I", "type": "Float", "group": "Control", "shortDesc": "Integral gain for pitch rate" },
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{ "name": "CTL_RATE_P_D", "type": "Float", "group": "Control", "shortDesc": "Derivative gain for pitch rate" },
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{ "name": "CTL_RATE_P_WU", "type": "Float", "group": "Control", "shortDesc": "Integral windup limit for pitch rate" },
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{ "name": "CTL_RATE_P_D_A", "type": "Float", "group": "Control", "shortDesc": "Low-pass filter alpha for pitch rate" },
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{ "name": "CTL_RATE_Y_P", "type": "Float", "group": "Control", "shortDesc": "Proportional gain for yaw rate" },
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{ "name": "CTL_RATE_Y_I", "type": "Float", "group": "Control", "shortDesc": "Integral gain for yaw rate" },
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{ "name": "CTL_RATE_Y_D", "type": "Float", "group": "Control", "shortDesc": "Derivative gain for yaw rate" },
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{ "name": "CTL_RATE_Y_WU", "type": "Float", "group": "Control", "shortDesc": "Integral windup limit for yaw rate" },
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{ "name": "CTL_RATE_Y_D_A", "type": "Float", "group": "Control", "shortDesc": "Low-pass filter alpha for yaw rate" },
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{ "name": "CTL_RATE_P_MAX", "type": "Float", "group": "Control", "units": "rad/s", "shortDesc": "Maximum pitch rate for ACRO mode" },
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{ "name": "CTL_RATE_R_MAX", "type": "Float", "group": "Control", "units": "rad/s", "shortDesc": "Maximum roll rate for ACRO mode" },
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{ "name": "CTL_RATE_Y_MAX", "type": "Float", "group": "Control", "units": "rad/s", "shortDesc": "Maximum yaw rate for ACRO mode" },
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{ "name": "CTL_ATT_R_P", "type": "Float", "group": "Control", "shortDesc": "Proportional gain for roll angle" },
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{ "name": "CTL_ATT_P_P", "type": "Float", "group": "Control", "shortDesc": "Proportional gain for pitch angle" },
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{ "name": "CTL_ATT_Y_P", "type": "Float", "group": "Control", "shortDesc": "Proportional gain for yaw angle" },
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{ "name": "CTL_ATT_MAX", "type": "Float", "group": "Control", "units": "radians", "shortDesc": "Maximum tilt angle for STAB mode" },
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{
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"name": "CTL_FLT_MODE_{n}",
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"type": "Float",
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"group": "Control",
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"shortDesc": "Flight mode for switch position {n}",
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"values": [{ "value": 0, "description": "RAW" }, { "value": 1, "description": "ACRO" }, { "value": 2, "description": "STAB" }, { "value": 3, "description": "AUTO" }, { "value": 4, "description": "POS" }]
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},
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{
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"name": "IMU_MODEL",
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"type": "Float",
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"shortDesc": "IMU sensor model",
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"group": "IMU",
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"increment": 1,
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"decimalPlaces": 0,
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"values": [{ "value": -1, "description": "Disabled"}, { "value": 1, "description": "MPU-9250"}, { "value": 2, "description": "ICM-20948"}, { "value": 3, "description": "MPU-6050"}, { "value": 4, "description": "ICM-40609-D"}],
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"rebootRequired": true
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},
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{
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"name": "IMU_BUS",
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"type": "Float",
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"shortDesc": "IMU bus type",
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"group": "IMU",
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"values": [
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{ "value": 0, "description": "SPI" },
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{ "value": 1, "description": "I2C" }
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],
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"rebootRequired": true
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},
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{ "name": "IMU_PIN_SCK", "type": "Float", "group": "IMU", "shortDesc": "IMU SPI SCK pin", "min": 1, "increment": 1, "decimalPlaces": 0 },
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{ "name": "IMU_PIN_MISO", "type": "Float", "group": "IMU", "shortDesc": "IMU SPI MISO pin", "min": 1, "increment": 1, "decimalPlaces": 0 },
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{ "name": "IMU_PIN_MOSI", "type": "Float", "group": "IMU", "shortDesc": "IMU SPI MOSI pin", "min": 1, "increment": 1, "decimalPlaces": 0 },
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{ "name": "IMU_PIN_CS", "type": "Float", "group": "IMU", "shortDesc": "IMU SPI CS pin", "min": 1, "increment": 1, "decimalPlaces": 0 },
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{ "name": "IMU_PIN_SDA", "type": "Float", "group": "IMU", "shortDesc": "IMU I2C SDA pin", "min": 1, "increment": 1, "decimalPlaces": 0 },
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{ "name": "IMU_PIN_SCL", "type": "Float", "group": "IMU", "shortDesc": "IMU I2C SCL pin", "min": 1, "increment": 1, "decimalPlaces": 0 },
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{ "name": "IMU_PIN_INT", "type": "Float", "group": "IMU", "shortDesc": "IMU interrupt pin (-1 for using timer)", "min": -1, "increment": 1, "decimalPlaces": 0 },
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{ "name": "IMU_ROT_ROLL", "type": "Float", "group": "IMU", "units": "radians", "shortDesc": "IMU roll rotation" },
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{ "name": "IMU_ROT_PITCH", "type": "Float", "group": "IMU", "units": "radians", "shortDesc": "IMU pitch rotation" },
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{ "name": "IMU_ROT_YAW", "type": "Float", "group": "IMU", "units": "radians", "shortDesc": "IMU yaw rotation" },
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{ "name": "IMU_ACC_BIAS_X", "type": "Float", "group": "IMU (Calibration)", "units": "m/s^2", "shortDesc": "Accelerometer bias X", "volatile": true },
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{ "name": "IMU_ACC_BIAS_Y", "type": "Float", "group": "IMU (Calibration)", "units": "m/s^2", "shortDesc": "Accelerometer bias Y", "volatile": true },
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{ "name": "IMU_ACC_BIAS_Z", "type": "Float", "group": "IMU (Calibration)", "units": "m/s^2", "shortDesc": "Accelerometer bias Z", "volatile": true },
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{ "name": "IMU_ACC_SCALE_X", "type": "Float", "group": "IMU (Calibration)", "shortDesc": "Accelerometer scale X", "volatile": true },
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{ "name": "IMU_ACC_SCALE_Y", "type": "Float", "group": "IMU (Calibration)", "shortDesc": "Accelerometer scale Y", "volatile": true },
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{ "name": "IMU_ACC_SCALE_Z", "type": "Float", "group": "IMU (Calibration)", "shortDesc": "Accelerometer scale Z", "volatile": true },
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{ "name": "IMU_GYRO_BIAS_A", "type": "Float", "group": "IMU", "shortDesc": "Alpha for gyroscope bias estimation" },
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{ "name": "EST_ACC_WEIGHT", "type": "Float", "group": "Estimation", "shortDesc": "Accelerometer weight" },
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{ "name": "EST_LVL_WEIGHT", "type": "Float", "group": "Estimation", "shortDesc": "Level weight", "decimalPlaces": 5 },
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{ "name": "EST_RATES_LPF_A", "type": "Float", "group": "Estimation", "shortDesc": "Low-pass filter alpha for rates" },
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{ "name": "EST_RATES_NO_F", "type": "Float", "group": "Estimation", "units": "Hz", "shortDesc": "Notch filter center frequency for rates", "min": 0, "decimalPlaces": 0 },
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{ "name": "EST_RATES_NO_BW", "type": "Float", "group": "Estimation", "units": "Hz", "shortDesc": "Notch filter bandwidth for rates", "min": 0, "decimalPlaces": 0 },
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{ "name": "MOT_PIN_FL", "type": "Float", "group": "Motors", "shortDesc": "Front-left motor pin (-1 to disabled)", "min": -1, "increment": 1, "decimalPlaces": 0 },
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{ "name": "MOT_PIN_FR", "type": "Float", "group": "Motors", "shortDesc": "Front-right motor pin (-1 to disabled)", "min": -1, "increment": 1, "decimalPlaces": 0 },
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{ "name": "MOT_PIN_RL", "type": "Float", "group": "Motors", "shortDesc": "Rear-left motor pin (-1 to disabled)", "min": -1, "increment": 1, "decimalPlaces": 0 },
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{ "name": "MOT_PIN_RR", "type": "Float", "group": "Motors", "shortDesc": "Rear-right motor pin (-1 to disabled)", "min": -1, "increment": 1, "decimalPlaces": 0 },
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{ "name": "MOT_PWM_FREQ", "type": "Float", "group": "Motors", "units": "Hz", "shortDesc": "PWM frequency", "min": 0, "increment": 1, "decimalPlaces": 0 },
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{ "name": "MOT_PWM_RES", "type": "Float", "group": "Motors", "units": "bits", "shortDesc": "PWM resolution", "min": 1, "increment": 1, "decimalPlaces": 0 },
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{ "name": "MOT_PWM_STOP", "type": "Float", "group": "Motors", "units": "μs", "shortDesc": "PWM for stopping the motors (brushless motors)", "min": 0, "decimalPlaces": 0 },
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{ "name": "MOT_PWM_MIN", "type": "Float", "group": "Motors", "units": "μs", "shortDesc": "PWM for minimum throttle (brushless motors)", "min": 0, "decimalPlaces": 0 },
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{ "name": "MOT_PWM_MAX", "type": "Float", "group": "Motors", "units": "μs", "shortDesc": "PWM for maximum throttle (-1 for brushed motors)", "min": -1, "decimalPlaces": 0 },
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{ "name": "RC_RX_PIN", "type": "Float", "group": "RC", "shortDesc": "RC receiver RX pin (-1 for disabled)", "min": -1, "increment": 1, "decimalPlaces": 0 },
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{
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"name": "RC_ZERO_{n}",
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"type": "Float",
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"group": "RC (Calibration)",
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"shortDesc": "RC channel {n} zero PWM",
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"units": "μs",
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"min": 0,
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"decimalPlaces": 0
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},
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{
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"name": "RC_MAX_{n}",
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"type": "Float",
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"group": "RC (Calibration)",
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"shortDesc": "RC channel {n} maximum PWM",
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"units": "μs",
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"min": 0,
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"decimalPlaces": 0
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},
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{ "name": "RC_ROLL", "type": "Float", "group": "RC (Calibration)", "shortDesc": "RC roll channel", "min": 0, "increment": 1, "decimalPlaces": 0 },
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{ "name": "RC_PITCH", "type": "Float", "group": "RC (Calibration)", "shortDesc": "RC pitch channel", "min": 0, "increment": 1, "decimalPlaces": 0 },
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{ "name": "RC_THROTTLE", "type": "Float", "group": "RC (Calibration)", "shortDesc": "RC throttle channel", "min": 0, "increment": 1, "decimalPlaces": 0 },
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{ "name": "RC_YAW", "type": "Float", "group": "RC (Calibration)", "shortDesc": "RC yaw channel", "min": 0, "increment": 1, "decimalPlaces": 0 },
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{ "name": "RC_MODE", "type": "Float", "group": "RC (Calibration)", "shortDesc": "RC mode switch channel", "min": 0, "increment": 1, "decimalPlaces": 0 },
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{
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"name": "WIFI_MODE",
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"type": "Float",
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"group": "Wi-Fi",
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"shortDesc": "Wi-Fi mode",
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"values": [
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{ "value": 0, "description": "Disabled" },
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{ "value": 1, "description": "Access point (AP)" },
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{ "value": 2, "description": "Client (STA)" },
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{ "value": 3, "description": "ESP-NOW" }
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]
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},
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{ "name": "WIFI_PORT_LOC", "type": "Float", "group": "Wi-Fi", "shortDesc": "Local UDP port", "min": 0, "max": 65535, "increment": 1, "decimalPlaces": 0 },
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{ "name": "WIFI_PORT_REM", "type": "Float", "group": "Wi-Fi", "shortDesc": "Remote UDP port", "min": 0, "max": 65535, "increment": 1, "decimalPlaces": 0 },
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{
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"name": "WIFI_LONG_RANGE",
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"type": "Float",
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"group": "Wi-Fi",
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"shortDesc": "Long-range WiFi mode",
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"values": [
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{ "value": 0, "description": "Off" },
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{ "value": 1, "description": "On" }
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]
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},
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{
147+
"name": "WIFI_BROADCAST",
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"type": "Float",
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"group": "Wi-Fi",
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"shortDesc": "Always broadcast UDP",
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"values": [
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{ "value": 0, "description": "Off" },
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{ "value": 1, "description": "On" }
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]
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},
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{ "name": "ESPNOW_CHANNEL", "type": "Float", "group": "ESP-NOW", "shortDesc": "ESP-NOW channel", "min": 1, "max": 13, "increment": 1, "decimalPlaces": 0 },
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{ "name": "MAV_SYS_ID", "type": "Float", "group": "MAVLink", "shortDesc": "MAVLink system ID", "min": 1, "increment": 1, "decimalPlaces": 0 },
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{ "name": "MAV_RATE_SLOW", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for heartbeats and battery state", "min": 0, "decimalPlaces": 0 },
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{ "name": "MAV_RATE_FAST", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for attitude, RC channels and motors state", "min": 0, "decimalPlaces": 0 },
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{ "name": "MAV_RATE_EXTRA", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for IMU data and exposed log topic", "min": 0, "decimalPlaces": 0 },
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{ "name": "MAV_RATE_ATT", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for attitude", "min": 0, "decimalPlaces": 0 },
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{ "name": "MAV_RATE_ATT_TG", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for attitude target", "min": 0, "decimalPlaces": 0 },
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{ "name": "MAV_RATE_RC", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for RC channels", "min": 0, "decimalPlaces": 0 },
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{ "name": "MAV_RATE_MOT", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for motors state", "min": 0, "decimalPlaces": 0 },
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{ "name": "MAV_RATE_IMU", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for IMU data", "min": 0, "decimalPlaces": 0 },
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{ "name": "MAV_RATE_TOPIC", "type": "Float", "group": "MAVLink", "units": "Hz", "shortDesc": "Rate for exposed log topic", "min": 0, "decimalPlaces": 0 },
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{
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"name": "LOG_MEMORY",
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"type": "Float",
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"group": "Log",
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"shortDesc": "Memory type for logging",
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"values": [
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{ "value": -1, "description": "Disabled" },
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{ "value": 0, "description": "RAM" },
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{ "value": 1, "description": "PSRAM" }
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]
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},
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{ "name": "LOG_USAGE", "type": "Float", "group": "Log", "units": "norm", "shortDesc": "Percentage of memory to use for logging" },
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{ "name": "LOG_RATE_{n}", "type": "Float", "group": "Log", "units": "Hz", "shortDesc": "Log topic {n} rate", "min": 0, "decimalPlaces": 0 },
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{ "name": "PWR_VOLT_PIN", "type": "Float", "group": "Power", "shortDesc": "Voltage ADC input pin (-1 for disabled)", "min": -1, "increment": 1, "decimalPlaces": 0 },
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{ "name": "PWR_VOLT_SCALE", "type": "Float", "group": "Power", "shortDesc": "Voltage divider scale factor" },
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{ "name": "PWR_VOLT_LPF_A", "type": "Float", "group": "Power", "shortDesc": "Low-pass filter alpha for battery voltage" },
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{ "name": "SF_RC_LOSS_TIME", "type": "Float", "group": "Safety", "units": "s", "shortDesc": "RC signal loss timeout in seconds", "min": 0, "decimalPlaces": 1 },
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{ "name": "SF_DESCEND_TIME", "type": "Float", "group": "Safety", "units": "s", "shortDesc": "Automatic descent timeout in seconds", "min": 0, "decimalPlaces": 1 },
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{ "name": "SF_DISARM_TILT", "type": "Float", "group": "Safety", "units": "radians", "shortDesc": "Tilt angle above which auto-disarm triggers" }
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]
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}

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