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paparazzi/conf/flight_plans/flight_plan.dtd
T
Gautier Hattenberger ade23ab09c [flight plan] add a max_speed attribute to fp instruction (#3387) 
This is only for the rotorcraft firmware at the moment, and it is
replacing the explicit call to guidance_h_SetMaxSpeed to simplify the
flight plans.
2024-10-04 08:53:30 +02:00

364 lines
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DTD
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<!-- Paparazzi flight plan DTD -->
<!ELEMENT flight_plan (header?,waypoints,sectors?,variables?,modules?,includes?,exceptions?,blocks)>
<!ELEMENT procedure (param*,header?,waypoints?,sectors?,exceptions?,blocks?)>
<!ELEMENT header (#PCDATA)>
<!ELEMENT waypoints (waypoint+)>
<!ELEMENT waypoint EMPTY>
<!ELEMENT sectors (sector|kml)*>
<!ELEMENT sector (corner,corner,corner+)>
<!ELEMENT corner EMPTY>
<!ELEMENT kml EMPTY>
<!ELEMENT variables (variable|abi_binding)*>
<!ELEMENT variable EMPTY>
<!ELEMENT abi_binding EMPTY>
<!ELEMENT modules (module*)>
<!ELEMENT module (configure|define)*>
<!ELEMENT configure EMPTY>
<!ELEMENT define EMPTY>
<!ELEMENT includes (include*)>
<!ELEMENT exceptions (exception*)>
<!ELEMENT blocks (block+)>
<!ELEMENT block (exception|while|heading|attitude|go|xyz|set|call|call_once|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|home|path|guided)*>
<!ELEMENT include (arg|with)*>
<!ELEMENT arg EMPTY>
<!ELEMENT with EMPTY>
<!ELEMENT while (exception|while|heading|attitude|go|xyz|set|call|call_once|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|path|guided)*>
<!ELEMENT for (exception|while|heading|attitude|go|xyz|set|call|call_once|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|path|guided)*>
<!ELEMENT exception EMPTY>
<!ELEMENT heading EMPTY>
<!ELEMENT attitude EMPTY>
<!ELEMENT go EMPTY>
<!ELEMENT xyz EMPTY>
<!ELEMENT set EMPTY>
<!ELEMENT call EMPTY>
<!ELEMENT call_once EMPTY>
<!ELEMENT circle EMPTY>
<!ELEMENT home EMPTY>
<!ELEMENT eight EMPTY>
<!ELEMENT oval EMPTY>
<!ELEMENT survey_rectangle EMPTY>
<!ELEMENT deroute EMPTY>
<!ELEMENT stay EMPTY>
<!ELEMENT follow EMPTY>
<!ELEMENT param EMPTY>
<!ELEMENT return EMPTY>
<!ELEMENT path EMPTY>
<!ELEMENT guided EMPTY>
<!ATTLIST flight_plan
name CDATA #REQUIRED
lat0 CDATA #REQUIRED
lon0 CDATA #REQUIRED
max_dist_from_home CDATA #REQUIRED
ground_alt CDATA #REQUIRED
security_height CDATA #REQUIRED
alt CDATA #REQUIRED
wp_frame CDATA #IMPLIED
qfu CDATA #IMPLIED
home_mode_height CDATA #IMPLIED
geofence_max_alt CDATA #IMPLIED
geofence_max_height CDATA #IMPLIED
geofence_sector CDATA #IMPLIED>
<!ATTLIST waypoints
utm_x0 CDATA #IMPLIED
utm_y0 CDATA #IMPLIED>
<!ATTLIST waypoint
name CDATA #REQUIRED
x CDATA #IMPLIED
y CDATA #IMPLIED
lat CDATA #IMPLIED
lon CDATA #IMPLIED
alt CDATA #IMPLIED
height CDATA #IMPLIED>
<!ATTLIST exceptions>
<!ATTLIST sectors>
<!ATTLIST sector
name CDATA #REQUIRED
color CDATA #IMPLIED
type CDATA #IMPLIED>
<!ATTLIST corner
name CDATA #REQUIRED>
<!ATTLIST kml
file CDATA #REQUIRED>
<!ATTLIST variables>
<!ATTLIST variable
var CDATA #REQUIRED
type CDATA #IMPLIED
init CDATA #IMPLIED
shortname CDATA #IMPLIED
min CDATA #IMPLIED
max CDATA #IMPLIED
step CDATA #IMPLIED
unit CDATA #IMPLIED
alt_unit CDATA #IMPLIED
alt_unit_coef CDATA #IMPLIED
values CDATA #IMPLIED>
<!ATTLIST abi_binding
name CDATA #REQUIRED
vars CDATA #IMPLIED
id CDATA #IMPLIED
handler CDATA #IMPLIED>
<!ATTLIST modules>
<!ATTLIST module
name CDATA #REQUIRED
type CDATA #IMPLIED>
<!ATTLIST define
name CDATA #REQUIRED
value CDATA #IMPLIED>
<!ATTLIST configure
name CDATA #REQUIRED
value CDATA #REQUIRED>
<!ATTLIST blocks>
<!ATTLIST block
name CDATA #REQUIRED
pre_call CDATA #IMPLIED
post_call CDATA #IMPLIED
on_enter CDATA #IMPLIED
on_exit CDATA #IMPLIED
strip_button CDATA #IMPLIED
strip_icon CDATA #IMPLIED
group CDATA #IMPLIED
key CDATA #IMPLIED
description CDATA #IMPLIED>
<!ATTLIST exception
cond CDATA #REQUIRED
deroute CDATA #REQUIRED>
<!ATTLIST while cond CDATA #IMPLIED>
<!ATTLIST for
var CDATA #REQUIRED
from CDATA #REQUIRED
to CDATA #REQUIRED>
<!ATTLIST heading
course CDATA #REQUIRED
vmode CDATA #IMPLIED
alt CDATA #IMPLIED
height CDATA #IMPLIED
throttle CDATA #IMPLIED
climb CDATA #IMPLIED
pitch CDATA #IMPLIED
pre_call CDATA #IMPLIED
post_call CDATA #IMPLIED
nav_type CDATA #IMPLIED
nav_params CDATA #IMPLIED
until CDATA #REQUIRED
max_speed CDATA #IMPLIED>
<!ATTLIST attitude
roll CDATA #REQUIRED
vmode CDATA #IMPLIED
alt CDATA #IMPLIED
height CDATA #IMPLIED
throttle CDATA #IMPLIED
climb CDATA #IMPLIED
pitch CDATA #IMPLIED
pre_call CDATA #IMPLIED
post_call CDATA #IMPLIED
nav_type CDATA #IMPLIED
nav_params CDATA #IMPLIED
until CDATA #IMPLIED>
<!ATTLIST go
wp CDATA #REQUIRED
wp_qdr CDATA #IMPLIED
wp_dist CDATA #IMPLIED
from CDATA #IMPLIED
from_qdr CDATA #IMPLIED
from_dist CDATA #IMPLIED
hmode CDATA #IMPLIED
vmode CDATA #IMPLIED
pitch CDATA #IMPLIED
alt CDATA #IMPLIED
height CDATA #IMPLIED
approaching_time CDATA #IMPLIED
exceeding_time CDATA #IMPLIED
throttle CDATA #IMPLIED
climb CDATA #IMPLIED
pre_call CDATA #IMPLIED
post_call CDATA #IMPLIED
nav_type CDATA #IMPLIED
nav_params CDATA #IMPLIED
until CDATA #IMPLIED
max_speed CDATA #IMPLIED>
<!ATTLIST path
wpts CDATA #REQUIRED
vmode CDATA #IMPLIED
pitch CDATA #IMPLIED
alt CDATA #IMPLIED
height CDATA #IMPLIED
approaching_time CDATA #IMPLIED
exceeding_time CDATA #IMPLIED
throttle CDATA #IMPLIED
climb CDATA #IMPLIED
max_speed CDATA #IMPLIED>
<!ATTLIST set
var CDATA #REQUIRED
value CDATA #REQUIRED>
<!ATTLIST call
fun CDATA #REQUIRED
until CDATA #IMPLIED
loop CDATA #IMPLIED
break CDATA #IMPLIED>
<!ATTLIST call_once
fun CDATA #REQUIRED
break CDATA #IMPLIED>
<!ATTLIST follow
ac_id CDATA #REQUIRED
distance CDATA #REQUIRED
height CDATA #REQUIRED
pre_call CDATA #IMPLIED
post_call CDATA #IMPLIED
nav_type CDATA #IMPLIED
nav_params CDATA #IMPLIED>
<!ATTLIST xyz
radius CDATA #IMPLIED>
<!ATTLIST home>
<!ATTLIST circle
wp CDATA #REQUIRED
wp_qdr CDATA #IMPLIED
wp_dist CDATA #IMPLIED
radius CDATA #REQUIRED
alt CDATA #IMPLIED
height CDATA #IMPLIED
vmode CDATA #IMPLIED
climb CDATA #IMPLIED
pitch CDATA #IMPLIED
throttle CDATA #IMPLIED
pre_call CDATA #IMPLIED
post_call CDATA #IMPLIED
nav_type CDATA #IMPLIED
nav_params CDATA #IMPLIED
until CDATA #IMPLIED
max_speed CDATA #IMPLIED>
<!ATTLIST eight
center CDATA #REQUIRED
turn_around CDATA #REQUIRED
alt CDATA #IMPLIED
vmode CDATA #IMPLIED
climb CDATA #IMPLIED
pitch CDATA #IMPLIED
throttle CDATA #IMPLIED
pre_call CDATA #IMPLIED
post_call CDATA #IMPLIED
until CDATA #IMPLIED
radius CDATA #REQUIRED
max_speed CDATA #IMPLIED>
<!ATTLIST oval
p1 CDATA #REQUIRED
p2 CDATA #REQUIRED
radius CDATA #REQUIRED
alt CDATA #IMPLIED
vmode CDATA #IMPLIED
climb CDATA #IMPLIED
pitch CDATA #IMPLIED
throttle CDATA #IMPLIED
pre_call CDATA #IMPLIED
post_call CDATA #IMPLIED
until CDATA #IMPLIED
max_speed CDATA #IMPLIED>
<!ATTLIST survey_rectangle
grid CDATA #REQUIRED
orientation CDATA #IMPLIED
wp1 CDATA #REQUIRED
wp2 CDATA #REQUIRED
pre_call CDATA #IMPLIED
post_call CDATA #IMPLIED
nav_type CDATA #IMPLIED
nav_params CDATA #IMPLIED
until CDATA #IMPLIED
max_speed CDATA #IMPLIED>
<!ATTLIST stay
wp CDATA #REQUIRED
vmode CDATA #IMPLIED
throttle CDATA #IMPLIED
climb CDATA #IMPLIED
alt CDATA #IMPLIED
until CDATA #IMPLIED
pre_call CDATA #IMPLIED
post_call CDATA #IMPLIED
nav_type CDATA #IMPLIED
nav_params CDATA #IMPLIED
height CDATA #IMPLIED
max_speed CDATA #IMPLIED>
<!ATTLIST guided
commands CDATA #REQUIRED
flags CDATA #IMPLIED
until CDATA #IMPLIED
pre_call CDATA #IMPLIED
post_call CDATA #IMPLIED
nav_type CDATA #IMPLIED
nav_params CDATA #IMPLIED
max_speed CDATA #IMPLIED>
<!ATTLIST deroute
block CDATA #REQUIRED>
<!ATTLIST includes>
<!ATTLIST include
name CDATA #REQUIRED
procedure CDATA #REQUIRED
>
<!ATTLIST arg
name CDATA #REQUIRED
value CDATA #REQUIRED>
<!ATTLIST with
from CDATA #REQUIRED
to CDATA #REQUIRED>
<!ATTLIST param
name CDATA #REQUIRED
default_value CDATA #IMPLIED>
<!ATTLIST header>
<!ATTLIST return
reset_stage CDATA #IMPLIED>
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