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C-Astral dialect C library
Commit 14828912 authored by PX4BuildBot's avatar PX4BuildBot
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autogenerated headers for rev... 

autogenerated headers for rev https://github.com/mavlink/mavlink/tree/94220497ecb04990fda2c1e925077ed4d4eb49bb
parent 0072fb33
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ASLUAV/ASLUAV.h
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...@@ -44,7 +44,7 @@ typedef enum MAV_CMD ...@@ -44,7 +44,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Number of turns.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Number of turns.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Loiter time.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Loiter time.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_LAND=21, /* Land at location. |imum target altitude if landing is aborted (0 = undefined/use system default).| Precision land mode.| Empty.| Desired yaw angle. NaN for unchanged.| Latitude.| Longitude.| Landing altitude (ground level in current frame).| */ MAV_CMD_NAV_LAND=21, /* Land at location. |Minimum target altitude if landing is aborted (0 = undefined/use system default).| Precision land mode.| Empty.| Desired yaw angle. NaN for unchanged.| Latitude.| Longitude.| Landing altitude (ground level in current frame).| */
MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |Landing target number (if available)| Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| Landing descend rate| Desired yaw angle| Y-axis position| X-axis position| Z-axis / ground level position| */ MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |Landing target number (if available)| Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| Landing descend rate| Desired yaw angle| Y-axis position| X-axis position| Z-axis / ground level position| */
MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Takeoff ascend rate| Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| Y-axis position| X-axis position| Z-axis position| */ MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Takeoff ascend rate| Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| Y-axis position| X-axis position| Z-axis position| */
...@@ -53,7 +53,7 @@ typedef enum MAV_CMD ...@@ -53,7 +53,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */
MAV_CMD_DO_FOLLOW=32, /* Begin following a target |System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| RESERVED| RESERVED| Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| Altitude above home. (used if mode=2)| RESERVED| Time to land in which the MAV should go to the default position hold mode after a message RX timeout.| */ MAV_CMD_DO_FOLLOW=32, /* Begin following a target |System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| RESERVED| RESERVED| Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| Altitude above home. (used if mode=2)| RESERVED| Time to land in which the MAV should go to the default position hold mode after a message RX timeout.| */
MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target| X offset from target| Y offset from target| */ MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target| X offset from target| Y offset from target| */
MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |s of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| Tangential Velocity. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */ MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| Tangential Velocity. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
...@@ -82,7 +82,7 @@ typedef enum MAV_CMD ...@@ -82,7 +82,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_LAND_START=189, /* Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty| */ MAV_CMD_DO_LAND_START=189, /* Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty| */
MAV_CMD_DO_RALLY_LAND=190, /* Mission command to perform a landing from a rally point. |Break altitude| Landing speed| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_RALLY_LAND=190, /* Mission command to perform a landing from a rally point. |Break altitude| Landing speed| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_GO_AROUND=191, /* Mission command to safely abort an autonomous landing. |Altitude| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_GO_AROUND=191, /* Mission command to safely abort an autonomous landing. |Altitude| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPOSITION=192, /* Reposition the vehicle to a specific WGS84 global position. |Ground speed, less than 0 (-1) for default| Bitmask of option flags.| Reserved| Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise)| Latitude (deg * 1E7)| (deg * 1E7)| Altitude (meters)| */ MAV_CMD_DO_REPOSITION=192, /* Reposition the vehicle to a specific WGS84 global position. |Ground speed, less than 0 (-1) for default| Bitmask of option flags.| Reserved| Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise)| Latitude (deg * 1E7)| ongitude (deg * 1E7)| Altitude (meters)| */
MAV_CMD_DO_PAUSE_CONTINUE=193, /* If in a GPS controlled position mode, hold the current position or continue. |0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */ MAV_CMD_DO_PAUSE_CONTINUE=193, /* If in a GPS controlled position mode, hold the current position or continue. |0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_DO_SET_REVERSE=194, /* Set moving direction to forward or reverse. |Direction (0=Forward, 1=Reverse)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_REVERSE=194, /* Set moving direction to forward or reverse. |Direction (0=Forward, 1=Reverse)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_ROI_LOCATION=195, /* Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ MAV_CMD_DO_SET_ROI_LOCATION=195, /* Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
...@@ -90,7 +90,7 @@ typedef enum MAV_CMD ...@@ -90,7 +90,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 0: single images every n seconds| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 0: single images every n seconds| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID (depends on param 1).| Region of interest index. (allows a vehicle to manage multiple ROI's)| Empty| MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude| */ MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID (depends on param 1).| Region of interest index. (allows a vehicle to manage multiple ROI's)| Empty| MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude| */
MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Modes: P, TV, AV, M, Etc.| Shutter speed: Divisor number for one second.| Aperture: F stop number.| ISO number e.g. 80, 100, 200, Etc.| Exposure type enumerator.| Command Identity.| Main engine cut-off time before camera trigger. (0 means no cut-off)| */ MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Modes: P, TV, AV, M, Etc.| d.| Aperture: F stop number.| ISO number e.g. 80, 100, 200, Etc.| Exposure type enumerator.| Command Identity.| Main engine cut-off time before camera trigger. (0 means no cut-off)| */
MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.| */ MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.| */
MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| */ MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| */
MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch depending on mount mode (degrees or degrees/second depending on pitch input).| roll depending on mount mode (degrees or degrees/second depending on roll input).| yaw depending on mount mode (degrees or degrees/second depending on yaw input).| altitude depending on mount mode.| latitude in degrees * 1E7, set if appropriate mount mode.| longitude in degrees * 1E7, set if appropriate mount mode.| Mount mode.| */ MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch depending on mount mode (degrees or degrees/second depending on pitch input).| roll depending on mount mode (degrees or degrees/second depending on roll input).| yaw depending on mount mode (degrees or degrees/second depending on yaw input).| altitude depending on mount mode.| latitude in degrees * 1E7, set if appropriate mount mode.| longitude in degrees * 1E7, set if appropriate mount mode.| Mount mode.| */
...@@ -103,15 +103,15 @@ typedef enum MAV_CMD ...@@ -103,15 +103,15 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time. -1 or 0 to ignore.| Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time. -1 or 0 to ignore.| Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |quaternion param q1, w (1 in null-rotation)| quaternion param q2, x (0 in null-rotation)| quaternion param q3, y (0 in null-rotation)| quaternion param q4, z (0 in null-rotation)| Empty| Empty| Empty| */ MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |quaternion param q1, w (1 in null-rotation)| quaternion param q2, x (0 in null-rotation)| quaternion param q3, y (0 in null-rotation)| quaternion param q4, z (0 in null-rotation)| Empty| Empty| Empty| */
MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |ternal controller will be allowed to control vehicle. 0 means no timeout.| Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| Empty| Empty| Empty| */ MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |e that external controller will be allowed to control vehicle. 0 means no timeout.| Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| Empty| Empty| Empty| */
MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |Mission sequence value to set| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |Mission sequence value to set| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| C calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration| */ MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| : radio RC calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration| */
MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */
MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */ MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty| */ MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| oader until upgraded.| WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| Reserved, send 0| Reserved, send 0| WIP: ID (e.g. camera ID -1 for all IDs)| */ MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| the bootloader until upgraded.| WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| Reserved, send 0| Reserved, send 0| WIP: ID (e.g. camera ID -1 for all IDs)| */
MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| Coordinate frame of hold point.| Desired yaw angle.| Latitude / X position.| Longitude / Y position.| Altitude / Z position.| */ MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| Coordinate frame of hold point.| Desired yaw angle.| Latitude / X position.| Longitude / Y position.| Altitude / Z position.| */
MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */ MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |0: disarm, 1: arm| 0: only arm-disarm when landed, 21196: enforce arming/disarming even in-air (during flight)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */ MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |0: disarm, 1: arm| 0: only arm-disarm when landed, 21196: enforce arming/disarming even in-air (during flight)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
...@@ -158,13 +158,13 @@ typedef enum MAV_CMD ...@@ -158,13 +158,13 @@ typedef enum MAV_CMD
|Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| Reserved (default:0)| */ |Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| Reserved (default:0)| */
MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */ MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point. MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */ |Reserved| Reserved| Reserved| eserved| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required. MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.
|Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required. MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
|Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area. MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area.
|Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| d| */ |Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area. MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
|Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined. MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
......
ASLUAV/version.h
View file @ 14828912
...@@ -7,7 +7,7 @@ ...@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Aug 21 2019" #define MAVLINK_BUILD_DATE "Sun Aug 25 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0" #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
ardupilotmega/ardupilotmega.h
View file @ 14828912
...@@ -61,7 +61,7 @@ typedef enum MAV_CMD ...@@ -61,7 +61,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Number of turns.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Number of turns.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Loiter time.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Loiter time.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_LAND=21, /* Land at location. |imum target altitude if landing is aborted (0 = undefined/use system default).| Precision land mode.| Empty.| Desired yaw angle. NaN for unchanged.| Latitude.| Longitude.| Landing altitude (ground level in current frame).| */ MAV_CMD_NAV_LAND=21, /* Land at location. |Minimum target altitude if landing is aborted (0 = undefined/use system default).| Precision land mode.| Empty.| Desired yaw angle. NaN for unchanged.| Latitude.| Longitude.| Landing altitude (ground level in current frame).| */
MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |Landing target number (if available)| Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| Landing descend rate| Desired yaw angle| Y-axis position| X-axis position| Z-axis / ground level position| */ MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |Landing target number (if available)| Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| Landing descend rate| Desired yaw angle| Y-axis position| X-axis position| Z-axis / ground level position| */
MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Takeoff ascend rate| Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| Y-axis position| X-axis position| Z-axis position| */ MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Takeoff ascend rate| Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| Y-axis position| X-axis position| Z-axis position| */
...@@ -70,7 +70,7 @@ typedef enum MAV_CMD ...@@ -70,7 +70,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */
MAV_CMD_DO_FOLLOW=32, /* Begin following a target |System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| RESERVED| RESERVED| Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| Altitude above home. (used if mode=2)| RESERVED| Time to land in which the MAV should go to the default position hold mode after a message RX timeout.| */ MAV_CMD_DO_FOLLOW=32, /* Begin following a target |System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| RESERVED| RESERVED| Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| Altitude above home. (used if mode=2)| RESERVED| Time to land in which the MAV should go to the default position hold mode after a message RX timeout.| */
MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target| X offset from target| Y offset from target| */ MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target| X offset from target| Y offset from target| */
MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |s of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| Tangential Velocity. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */ MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| Tangential Velocity. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
...@@ -100,7 +100,7 @@ typedef enum MAV_CMD ...@@ -100,7 +100,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_LAND_START=189, /* Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty| */ MAV_CMD_DO_LAND_START=189, /* Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty| */
MAV_CMD_DO_RALLY_LAND=190, /* Mission command to perform a landing from a rally point. |Break altitude| Landing speed| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_RALLY_LAND=190, /* Mission command to perform a landing from a rally point. |Break altitude| Landing speed| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_GO_AROUND=191, /* Mission command to safely abort an autonomous landing. |Altitude| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_GO_AROUND=191, /* Mission command to safely abort an autonomous landing. |Altitude| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPOSITION=192, /* Reposition the vehicle to a specific WGS84 global position. |Ground speed, less than 0 (-1) for default| Bitmask of option flags.| Reserved| Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise)| Latitude (deg * 1E7)| (deg * 1E7)| Altitude (meters)| */ MAV_CMD_DO_REPOSITION=192, /* Reposition the vehicle to a specific WGS84 global position. |Ground speed, less than 0 (-1) for default| Bitmask of option flags.| Reserved| Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise)| Latitude (deg * 1E7)| ongitude (deg * 1E7)| Altitude (meters)| */
MAV_CMD_DO_PAUSE_CONTINUE=193, /* If in a GPS controlled position mode, hold the current position or continue. |0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */ MAV_CMD_DO_PAUSE_CONTINUE=193, /* If in a GPS controlled position mode, hold the current position or continue. |0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_DO_SET_REVERSE=194, /* Set moving direction to forward or reverse. |Direction (0=Forward, 1=Reverse)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_REVERSE=194, /* Set moving direction to forward or reverse. |Direction (0=Forward, 1=Reverse)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_ROI_LOCATION=195, /* Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ MAV_CMD_DO_SET_ROI_LOCATION=195, /* Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
...@@ -108,7 +108,7 @@ typedef enum MAV_CMD ...@@ -108,7 +108,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 0: single images every n seconds| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 0: single images every n seconds| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID (depends on param 1).| Region of interest index. (allows a vehicle to manage multiple ROI's)| Empty| MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude| */ MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID (depends on param 1).| Region of interest index. (allows a vehicle to manage multiple ROI's)| Empty| MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude| */
MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Modes: P, TV, AV, M, Etc.| Shutter speed: Divisor number for one second.| Aperture: F stop number.| ISO number e.g. 80, 100, 200, Etc.| Exposure type enumerator.| Command Identity.| Main engine cut-off time before camera trigger. (0 means no cut-off)| */ MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Modes: P, TV, AV, M, Etc.| d.| Aperture: F stop number.| ISO number e.g. 80, 100, 200, Etc.| Exposure type enumerator.| Command Identity.| Main engine cut-off time before camera trigger. (0 means no cut-off)| */
MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.| */ MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.| */
MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| */ MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| */
MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch depending on mount mode (degrees or degrees/second depending on pitch input).| roll depending on mount mode (degrees or degrees/second depending on roll input).| yaw depending on mount mode (degrees or degrees/second depending on yaw input).| altitude depending on mount mode.| latitude in degrees * 1E7, set if appropriate mount mode.| longitude in degrees * 1E7, set if appropriate mount mode.| Mount mode.| */ MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch depending on mount mode (degrees or degrees/second depending on pitch input).| roll depending on mount mode (degrees or degrees/second depending on roll input).| yaw depending on mount mode (degrees or degrees/second depending on yaw input).| altitude depending on mount mode.| latitude in degrees * 1E7, set if appropriate mount mode.| longitude in degrees * 1E7, set if appropriate mount mode.| Mount mode.| */
...@@ -123,15 +123,15 @@ typedef enum MAV_CMD ...@@ -123,15 +123,15 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time. -1 or 0 to ignore.| Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time. -1 or 0 to ignore.| Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |quaternion param q1, w (1 in null-rotation)| quaternion param q2, x (0 in null-rotation)| quaternion param q3, y (0 in null-rotation)| quaternion param q4, z (0 in null-rotation)| Empty| Empty| Empty| */ MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |quaternion param q1, w (1 in null-rotation)| quaternion param q2, x (0 in null-rotation)| quaternion param q3, y (0 in null-rotation)| quaternion param q4, z (0 in null-rotation)| Empty| Empty| Empty| */
MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |ternal controller will be allowed to control vehicle. 0 means no timeout.| Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| Empty| Empty| Empty| */ MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |e that external controller will be allowed to control vehicle. 0 means no timeout.| Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| Empty| Empty| Empty| */
MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |Mission sequence value to set| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |Mission sequence value to set| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| C calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration| */ MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| : radio RC calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration| */
MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */
MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */ MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty| */ MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| oader until upgraded.| WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| Reserved, send 0| Reserved, send 0| WIP: ID (e.g. camera ID -1 for all IDs)| */ MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| the bootloader until upgraded.| WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| Reserved, send 0| Reserved, send 0| WIP: ID (e.g. camera ID -1 for all IDs)| */
MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| Coordinate frame of hold point.| Desired yaw angle.| Latitude / X position.| Longitude / Y position.| Altitude / Z position.| */ MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| Coordinate frame of hold point.| Desired yaw angle.| Latitude / X position.| Longitude / Y position.| Altitude / Z position.| */
MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */ MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |0: disarm, 1: arm| 0: only arm-disarm when landed, 21196: enforce arming/disarming even in-air (during flight)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */ MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |0: disarm, 1: arm| 0: only arm-disarm when landed, 21196: enforce arming/disarming even in-air (during flight)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
...@@ -178,13 +178,13 @@ typedef enum MAV_CMD ...@@ -178,13 +178,13 @@ typedef enum MAV_CMD
|Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| Reserved (default:0)| */ |Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| Reserved (default:0)| */
MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */ MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point. MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */ |Reserved| Reserved| Reserved| eserved| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required. MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.
|Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required. MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
|Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area. MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area.
|Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| d| */ |Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area. MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
|Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined. MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
......
ardupilotmega/version.h
View file @ 14828912
...@@ -7,7 +7,7 @@ ...@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Aug 21 2019" #define MAVLINK_BUILD_DATE "Sun Aug 25 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0" #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
autoquad/autoquad.h
View file @ 14828912
...@@ -88,7 +88,7 @@ typedef enum MAV_CMD ...@@ -88,7 +88,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Number of turns.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Number of turns.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Loiter time.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Loiter time.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_LAND=21, /* Land at location. |imum target altitude if landing is aborted (0 = undefined/use system default).| Precision land mode.| Empty.| Desired yaw angle. NaN for unchanged.| Latitude.| Longitude.| Landing altitude (ground level in current frame).| */ MAV_CMD_NAV_LAND=21, /* Land at location. |Minimum target altitude if landing is aborted (0 = undefined/use system default).| Precision land mode.| Empty.| Desired yaw angle. NaN for unchanged.| Latitude.| Longitude.| Landing altitude (ground level in current frame).| */
MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |Landing target number (if available)| Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| Landing descend rate| Desired yaw angle| Y-axis position| X-axis position| Z-axis / ground level position| */ MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |Landing target number (if available)| Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| Landing descend rate| Desired yaw angle| Y-axis position| X-axis position| Z-axis / ground level position| */
MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Takeoff ascend rate| Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| Y-axis position| X-axis position| Z-axis position| */ MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Takeoff ascend rate| Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| Y-axis position| X-axis position| Z-axis position| */
...@@ -97,7 +97,7 @@ typedef enum MAV_CMD ...@@ -97,7 +97,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */
MAV_CMD_DO_FOLLOW=32, /* Begin following a target |System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| RESERVED| RESERVED| Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| Altitude above home. (used if mode=2)| RESERVED| Time to land in which the MAV should go to the default position hold mode after a message RX timeout.| */ MAV_CMD_DO_FOLLOW=32, /* Begin following a target |System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| RESERVED| RESERVED| Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| Altitude above home. (used if mode=2)| RESERVED| Time to land in which the MAV should go to the default position hold mode after a message RX timeout.| */
MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target| X offset from target| Y offset from target| */ MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target| X offset from target| Y offset from target| */
MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |s of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| Tangential Velocity. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */ MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| Tangential Velocity. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
...@@ -126,7 +126,7 @@ typedef enum MAV_CMD ...@@ -126,7 +126,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_LAND_START=189, /* Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty| */ MAV_CMD_DO_LAND_START=189, /* Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty| */
MAV_CMD_DO_RALLY_LAND=190, /* Mission command to perform a landing from a rally point. |Break altitude| Landing speed| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_RALLY_LAND=190, /* Mission command to perform a landing from a rally point. |Break altitude| Landing speed| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_GO_AROUND=191, /* Mission command to safely abort an autonomous landing. |Altitude| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_GO_AROUND=191, /* Mission command to safely abort an autonomous landing. |Altitude| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPOSITION=192, /* Reposition the vehicle to a specific WGS84 global position. |Ground speed, less than 0 (-1) for default| Bitmask of option flags.| Reserved| Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise)| Latitude (deg * 1E7)| (deg * 1E7)| Altitude (meters)| */ MAV_CMD_DO_REPOSITION=192, /* Reposition the vehicle to a specific WGS84 global position. |Ground speed, less than 0 (-1) for default| Bitmask of option flags.| Reserved| Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise)| Latitude (deg * 1E7)| ongitude (deg * 1E7)| Altitude (meters)| */
MAV_CMD_DO_PAUSE_CONTINUE=193, /* If in a GPS controlled position mode, hold the current position or continue. |0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */ MAV_CMD_DO_PAUSE_CONTINUE=193, /* If in a GPS controlled position mode, hold the current position or continue. |0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_DO_SET_REVERSE=194, /* Set moving direction to forward or reverse. |Direction (0=Forward, 1=Reverse)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_REVERSE=194, /* Set moving direction to forward or reverse. |Direction (0=Forward, 1=Reverse)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_ROI_LOCATION=195, /* Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ MAV_CMD_DO_SET_ROI_LOCATION=195, /* Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
...@@ -134,7 +134,7 @@ typedef enum MAV_CMD ...@@ -134,7 +134,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 0: single images every n seconds| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 0: single images every n seconds| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID (depends on param 1).| Region of interest index. (allows a vehicle to manage multiple ROI's)| Empty| MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude| */ MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID (depends on param 1).| Region of interest index. (allows a vehicle to manage multiple ROI's)| Empty| MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude| */
MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Modes: P, TV, AV, M, Etc.| Shutter speed: Divisor number for one second.| Aperture: F stop number.| ISO number e.g. 80, 100, 200, Etc.| Exposure type enumerator.| Command Identity.| Main engine cut-off time before camera trigger. (0 means no cut-off)| */ MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Modes: P, TV, AV, M, Etc.| d.| Aperture: F stop number.| ISO number e.g. 80, 100, 200, Etc.| Exposure type enumerator.| Command Identity.| Main engine cut-off time before camera trigger. (0 means no cut-off)| */
MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.| */ MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.| */
MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| */ MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| */
MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch depending on mount mode (degrees or degrees/second depending on pitch input).| roll depending on mount mode (degrees or degrees/second depending on roll input).| yaw depending on mount mode (degrees or degrees/second depending on yaw input).| altitude depending on mount mode.| latitude in degrees * 1E7, set if appropriate mount mode.| longitude in degrees * 1E7, set if appropriate mount mode.| Mount mode.| */ MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch depending on mount mode (degrees or degrees/second depending on pitch input).| roll depending on mount mode (degrees or degrees/second depending on roll input).| yaw depending on mount mode (degrees or degrees/second depending on yaw input).| altitude depending on mount mode.| latitude in degrees * 1E7, set if appropriate mount mode.| longitude in degrees * 1E7, set if appropriate mount mode.| Mount mode.| */
...@@ -147,15 +147,15 @@ typedef enum MAV_CMD ...@@ -147,15 +147,15 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time. -1 or 0 to ignore.| Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time. -1 or 0 to ignore.| Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |quaternion param q1, w (1 in null-rotation)| quaternion param q2, x (0 in null-rotation)| quaternion param q3, y (0 in null-rotation)| quaternion param q4, z (0 in null-rotation)| Empty| Empty| Empty| */ MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |quaternion param q1, w (1 in null-rotation)| quaternion param q2, x (0 in null-rotation)| quaternion param q3, y (0 in null-rotation)| quaternion param q4, z (0 in null-rotation)| Empty| Empty| Empty| */
MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |ternal controller will be allowed to control vehicle. 0 means no timeout.| Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| Empty| Empty| Empty| */ MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |e that external controller will be allowed to control vehicle. 0 means no timeout.| Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| Empty| Empty| Empty| */
MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |Mission sequence value to set| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |Mission sequence value to set| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| C calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration| */ MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| : radio RC calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration| */
MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */
MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */ MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty| */ MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| oader until upgraded.| WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| Reserved, send 0| Reserved, send 0| WIP: ID (e.g. camera ID -1 for all IDs)| */ MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| the bootloader until upgraded.| WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| Reserved, send 0| Reserved, send 0| WIP: ID (e.g. camera ID -1 for all IDs)| */
MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| Coordinate frame of hold point.| Desired yaw angle.| Latitude / X position.| Longitude / Y position.| Altitude / Z position.| */ MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| Coordinate frame of hold point.| Desired yaw angle.| Latitude / X position.| Longitude / Y position.| Altitude / Z position.| */
MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */ MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |0: disarm, 1: arm| 0: only arm-disarm when landed, 21196: enforce arming/disarming even in-air (during flight)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */ MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |0: disarm, 1: arm| 0: only arm-disarm when landed, 21196: enforce arming/disarming even in-air (during flight)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
...@@ -202,13 +202,13 @@ typedef enum MAV_CMD ...@@ -202,13 +202,13 @@ typedef enum MAV_CMD
|Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| Reserved (default:0)| */ |Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| Reserved (default:0)| */
MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */ MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point. MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */ |Reserved| Reserved| Reserved| eserved| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required. MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.
|Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required. MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
|Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area. MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area.
|Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| d| */ |Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area. MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
|Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined. MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
......
autoquad/version.h
View file @ 14828912
...@@ -7,7 +7,7 @@ ...@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Aug 21 2019" #define MAVLINK_BUILD_DATE "Sun Aug 25 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0" #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
common/common.h
View file @ 14828912
...@@ -101,7 +101,7 @@ typedef enum MAV_TYPE ...@@ -101,7 +101,7 @@ typedef enum MAV_TYPE
MAV_TYPE_CAMERA=30, /* Camera | */ MAV_TYPE_CAMERA=30, /* Camera | */
MAV_TYPE_CHARGING_STATION=31, /* Charging station | */ MAV_TYPE_CHARGING_STATION=31, /* Charging station | */
MAV_TYPE_FLARM=32, /* FLARM collision avoidance system | */ MAV_TYPE_FLARM=32, /* FLARM collision avoidance system | */
SERVO=33, /* Servo | */ MAV_TYPE_SERVO=33, /* Servo | */
MAV_TYPE_ENUM_END=34, /* | */ MAV_TYPE_ENUM_END=34, /* | */
} MAV_TYPE; } MAV_TYPE;
#endif #endif
...@@ -530,7 +530,7 @@ typedef enum MAV_CMD ...@@ -530,7 +530,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Number of turns.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Number of turns.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Loiter time.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Loiter time.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_LAND=21, /* Land at location. |imum target altitude if landing is aborted (0 = undefined/use system default).| Precision land mode.| Empty.| Desired yaw angle. NaN for unchanged.| Latitude.| Longitude.| Landing altitude (ground level in current frame).| */ MAV_CMD_NAV_LAND=21, /* Land at location. |Minimum target altitude if landing is aborted (0 = undefined/use system default).| Precision land mode.| Empty.| Desired yaw angle. NaN for unchanged.| Latitude.| Longitude.| Landing altitude (ground level in current frame).| */
MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |Landing target number (if available)| Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| Landing descend rate| Desired yaw angle| Y-axis position| X-axis position| Z-axis / ground level position| */ MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |Landing target number (if available)| Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| Landing descend rate| Desired yaw angle| Y-axis position| X-axis position| Z-axis / ground level position| */
MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Takeoff ascend rate| Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| Y-axis position| X-axis position| Z-axis position| */ MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Takeoff ascend rate| Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| Y-axis position| X-axis position| Z-axis position| */
...@@ -539,7 +539,7 @@ typedef enum MAV_CMD ...@@ -539,7 +539,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */
MAV_CMD_DO_FOLLOW=32, /* Begin following a target |System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| RESERVED| RESERVED| Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| Altitude above home. (used if mode=2)| RESERVED| Time to land in which the MAV should go to the default position hold mode after a message RX timeout.| */ MAV_CMD_DO_FOLLOW=32, /* Begin following a target |System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| RESERVED| RESERVED| Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| Altitude above home. (used if mode=2)| RESERVED| Time to land in which the MAV should go to the default position hold mode after a message RX timeout.| */
MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target| X offset from target| Y offset from target| */ MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target| X offset from target| Y offset from target| */
MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |s of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| Tangential Velocity. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */ MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| Tangential Velocity. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
...@@ -568,7 +568,7 @@ typedef enum MAV_CMD ...@@ -568,7 +568,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_LAND_START=189, /* Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty| */ MAV_CMD_DO_LAND_START=189, /* Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty| */
MAV_CMD_DO_RALLY_LAND=190, /* Mission command to perform a landing from a rally point. |Break altitude| Landing speed| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_RALLY_LAND=190, /* Mission command to perform a landing from a rally point. |Break altitude| Landing speed| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_GO_AROUND=191, /* Mission command to safely abort an autonomous landing. |Altitude| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_GO_AROUND=191, /* Mission command to safely abort an autonomous landing. |Altitude| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPOSITION=192, /* Reposition the vehicle to a specific WGS84 global position. |Ground speed, less than 0 (-1) for default| Bitmask of option flags.| Reserved| Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise)| Latitude (deg * 1E7)| (deg * 1E7)| Altitude (meters)| */ MAV_CMD_DO_REPOSITION=192, /* Reposition the vehicle to a specific WGS84 global position. |Ground speed, less than 0 (-1) for default| Bitmask of option flags.| Reserved| Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise)| Latitude (deg * 1E7)| ongitude (deg * 1E7)| Altitude (meters)| */
MAV_CMD_DO_PAUSE_CONTINUE=193, /* If in a GPS controlled position mode, hold the current position or continue. |0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */ MAV_CMD_DO_PAUSE_CONTINUE=193, /* If in a GPS controlled position mode, hold the current position or continue. |0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_DO_SET_REVERSE=194, /* Set moving direction to forward or reverse. |Direction (0=Forward, 1=Reverse)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_REVERSE=194, /* Set moving direction to forward or reverse. |Direction (0=Forward, 1=Reverse)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_ROI_LOCATION=195, /* Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ MAV_CMD_DO_SET_ROI_LOCATION=195, /* Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
...@@ -576,7 +576,7 @@ typedef enum MAV_CMD ...@@ -576,7 +576,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 0: single images every n seconds| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 0: single images every n seconds| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID (depends on param 1).| Region of interest index. (allows a vehicle to manage multiple ROI's)| Empty| MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude| */ MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID (depends on param 1).| Region of interest index. (allows a vehicle to manage multiple ROI's)| Empty| MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude| */
MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Modes: P, TV, AV, M, Etc.| Shutter speed: Divisor number for one second.| Aperture: F stop number.| ISO number e.g. 80, 100, 200, Etc.| Exposure type enumerator.| Command Identity.| Main engine cut-off time before camera trigger. (0 means no cut-off)| */ MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Modes: P, TV, AV, M, Etc.| d.| Aperture: F stop number.| ISO number e.g. 80, 100, 200, Etc.| Exposure type enumerator.| Command Identity.| Main engine cut-off time before camera trigger. (0 means no cut-off)| */
MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.| */ MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.| */
MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| */ MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| */
MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch depending on mount mode (degrees or degrees/second depending on pitch input).| roll depending on mount mode (degrees or degrees/second depending on roll input).| yaw depending on mount mode (degrees or degrees/second depending on yaw input).| altitude depending on mount mode.| latitude in degrees * 1E7, set if appropriate mount mode.| longitude in degrees * 1E7, set if appropriate mount mode.| Mount mode.| */ MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch depending on mount mode (degrees or degrees/second depending on pitch input).| roll depending on mount mode (degrees or degrees/second depending on roll input).| yaw depending on mount mode (degrees or degrees/second depending on yaw input).| altitude depending on mount mode.| latitude in degrees * 1E7, set if appropriate mount mode.| longitude in degrees * 1E7, set if appropriate mount mode.| Mount mode.| */
...@@ -589,15 +589,15 @@ typedef enum MAV_CMD ...@@ -589,15 +589,15 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time. -1 or 0 to ignore.| Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time. -1 or 0 to ignore.| Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |quaternion param q1, w (1 in null-rotation)| quaternion param q2, x (0 in null-rotation)| quaternion param q3, y (0 in null-rotation)| quaternion param q4, z (0 in null-rotation)| Empty| Empty| Empty| */ MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |quaternion param q1, w (1 in null-rotation)| quaternion param q2, x (0 in null-rotation)| quaternion param q3, y (0 in null-rotation)| quaternion param q4, z (0 in null-rotation)| Empty| Empty| Empty| */
MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |ternal controller will be allowed to control vehicle. 0 means no timeout.| Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| Empty| Empty| Empty| */ MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |e that external controller will be allowed to control vehicle. 0 means no timeout.| Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| Empty| Empty| Empty| */
MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |Mission sequence value to set| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |Mission sequence value to set| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| C calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration| */ MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| : radio RC calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration| */
MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */
MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */ MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty| */ MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| oader until upgraded.| WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| Reserved, send 0| Reserved, send 0| WIP: ID (e.g. camera ID -1 for all IDs)| */ MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| the bootloader until upgraded.| WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| Reserved, send 0| Reserved, send 0| WIP: ID (e.g. camera ID -1 for all IDs)| */
MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| Coordinate frame of hold point.| Desired yaw angle.| Latitude / X position.| Longitude / Y position.| Altitude / Z position.| */ MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| Coordinate frame of hold point.| Desired yaw angle.| Latitude / X position.| Longitude / Y position.| Altitude / Z position.| */
MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */ MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |0: disarm, 1: arm| 0: only arm-disarm when landed, 21196: enforce arming/disarming even in-air (during flight)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */ MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |0: disarm, 1: arm| 0: only arm-disarm when landed, 21196: enforce arming/disarming even in-air (during flight)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
...@@ -644,13 +644,13 @@ typedef enum MAV_CMD ...@@ -644,13 +644,13 @@ typedef enum MAV_CMD
|Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| Reserved (default:0)| */ |Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| Reserved (default:0)| */
MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */ MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point. MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */ |Reserved| Reserved| Reserved| eserved| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required. MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.
|Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required. MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
|Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area. MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area.
|Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| d| */ |Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area. MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
|Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined. MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
......
common/version.h
View file @ 14828912
...@@ -7,7 +7,7 @@ ...@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Aug 21 2019" #define MAVLINK_BUILD_DATE "Sun Aug 25 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0" #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
icarous/version.h
View file @ 14828912
...@@ -7,7 +7,7 @@ ...@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Aug 21 2019" #define MAVLINK_BUILD_DATE "Sun Aug 25 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0" #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
matrixpilot/matrixpilot.h
View file @ 14828912
...@@ -61,7 +61,7 @@ typedef enum MAV_CMD ...@@ -61,7 +61,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Number of turns.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Number of turns.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Loiter time.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Loiter time.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_LAND=21, /* Land at location. |imum target altitude if landing is aborted (0 = undefined/use system default).| Precision land mode.| Empty.| Desired yaw angle. NaN for unchanged.| Latitude.| Longitude.| Landing altitude (ground level in current frame).| */ MAV_CMD_NAV_LAND=21, /* Land at location. |Minimum target altitude if landing is aborted (0 = undefined/use system default).| Precision land mode.| Empty.| Desired yaw angle. NaN for unchanged.| Latitude.| Longitude.| Landing altitude (ground level in current frame).| */
MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |Landing target number (if available)| Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| Landing descend rate| Desired yaw angle| Y-axis position| X-axis position| Z-axis / ground level position| */ MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |Landing target number (if available)| Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| Landing descend rate| Desired yaw angle| Y-axis position| X-axis position| Z-axis / ground level position| */
MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Takeoff ascend rate| Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| Y-axis position| X-axis position| Z-axis position| */ MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Takeoff ascend rate| Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| Y-axis position| X-axis position| Z-axis position| */
...@@ -70,7 +70,7 @@ typedef enum MAV_CMD ...@@ -70,7 +70,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */
MAV_CMD_DO_FOLLOW=32, /* Begin following a target |System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| RESERVED| RESERVED| Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| Altitude above home. (used if mode=2)| RESERVED| Time to land in which the MAV should go to the default position hold mode after a message RX timeout.| */ MAV_CMD_DO_FOLLOW=32, /* Begin following a target |System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| RESERVED| RESERVED| Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| Altitude above home. (used if mode=2)| RESERVED| Time to land in which the MAV should go to the default position hold mode after a message RX timeout.| */
MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target| X offset from target| Y offset from target| */ MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target| X offset from target| Y offset from target| */
MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |s of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| Tangential Velocity. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */ MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| Tangential Velocity. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
...@@ -99,7 +99,7 @@ typedef enum MAV_CMD ...@@ -99,7 +99,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_LAND_START=189, /* Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty| */ MAV_CMD_DO_LAND_START=189, /* Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty| */
MAV_CMD_DO_RALLY_LAND=190, /* Mission command to perform a landing from a rally point. |Break altitude| Landing speed| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_RALLY_LAND=190, /* Mission command to perform a landing from a rally point. |Break altitude| Landing speed| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_GO_AROUND=191, /* Mission command to safely abort an autonomous landing. |Altitude| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_GO_AROUND=191, /* Mission command to safely abort an autonomous landing. |Altitude| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPOSITION=192, /* Reposition the vehicle to a specific WGS84 global position. |Ground speed, less than 0 (-1) for default| Bitmask of option flags.| Reserved| Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise)| Latitude (deg * 1E7)| (deg * 1E7)| Altitude (meters)| */ MAV_CMD_DO_REPOSITION=192, /* Reposition the vehicle to a specific WGS84 global position. |Ground speed, less than 0 (-1) for default| Bitmask of option flags.| Reserved| Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise)| Latitude (deg * 1E7)| ongitude (deg * 1E7)| Altitude (meters)| */
MAV_CMD_DO_PAUSE_CONTINUE=193, /* If in a GPS controlled position mode, hold the current position or continue. |0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */ MAV_CMD_DO_PAUSE_CONTINUE=193, /* If in a GPS controlled position mode, hold the current position or continue. |0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_DO_SET_REVERSE=194, /* Set moving direction to forward or reverse. |Direction (0=Forward, 1=Reverse)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_REVERSE=194, /* Set moving direction to forward or reverse. |Direction (0=Forward, 1=Reverse)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_ROI_LOCATION=195, /* Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ MAV_CMD_DO_SET_ROI_LOCATION=195, /* Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
...@@ -107,7 +107,7 @@ typedef enum MAV_CMD ...@@ -107,7 +107,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 0: single images every n seconds| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 0: single images every n seconds| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID (depends on param 1).| Region of interest index. (allows a vehicle to manage multiple ROI's)| Empty| MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude| */ MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID (depends on param 1).| Region of interest index. (allows a vehicle to manage multiple ROI's)| Empty| MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude| */
MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Modes: P, TV, AV, M, Etc.| Shutter speed: Divisor number for one second.| Aperture: F stop number.| ISO number e.g. 80, 100, 200, Etc.| Exposure type enumerator.| Command Identity.| Main engine cut-off time before camera trigger. (0 means no cut-off)| */ MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Modes: P, TV, AV, M, Etc.| d.| Aperture: F stop number.| ISO number e.g. 80, 100, 200, Etc.| Exposure type enumerator.| Command Identity.| Main engine cut-off time before camera trigger. (0 means no cut-off)| */
MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.| */ MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.| */
MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| */ MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| */
MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch depending on mount mode (degrees or degrees/second depending on pitch input).| roll depending on mount mode (degrees or degrees/second depending on roll input).| yaw depending on mount mode (degrees or degrees/second depending on yaw input).| altitude depending on mount mode.| latitude in degrees * 1E7, set if appropriate mount mode.| longitude in degrees * 1E7, set if appropriate mount mode.| Mount mode.| */ MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch depending on mount mode (degrees or degrees/second depending on pitch input).| roll depending on mount mode (degrees or degrees/second depending on roll input).| yaw depending on mount mode (degrees or degrees/second depending on yaw input).| altitude depending on mount mode.| latitude in degrees * 1E7, set if appropriate mount mode.| longitude in degrees * 1E7, set if appropriate mount mode.| Mount mode.| */
...@@ -120,15 +120,15 @@ typedef enum MAV_CMD ...@@ -120,15 +120,15 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time. -1 or 0 to ignore.| Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time. -1 or 0 to ignore.| Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |quaternion param q1, w (1 in null-rotation)| quaternion param q2, x (0 in null-rotation)| quaternion param q3, y (0 in null-rotation)| quaternion param q4, z (0 in null-rotation)| Empty| Empty| Empty| */ MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |quaternion param q1, w (1 in null-rotation)| quaternion param q2, x (0 in null-rotation)| quaternion param q3, y (0 in null-rotation)| quaternion param q4, z (0 in null-rotation)| Empty| Empty| Empty| */
MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |ternal controller will be allowed to control vehicle. 0 means no timeout.| Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| Empty| Empty| Empty| */ MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |e that external controller will be allowed to control vehicle. 0 means no timeout.| Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| Empty| Empty| Empty| */
MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |Mission sequence value to set| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |Mission sequence value to set| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| C calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration| */ MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| : radio RC calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration| */
MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */
MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */ MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty| */ MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| oader until upgraded.| WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| Reserved, send 0| Reserved, send 0| WIP: ID (e.g. camera ID -1 for all IDs)| */ MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| the bootloader until upgraded.| WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| Reserved, send 0| Reserved, send 0| WIP: ID (e.g. camera ID -1 for all IDs)| */
MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| Coordinate frame of hold point.| Desired yaw angle.| Latitude / X position.| Longitude / Y position.| Altitude / Z position.| */ MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| Coordinate frame of hold point.| Desired yaw angle.| Latitude / X position.| Longitude / Y position.| Altitude / Z position.| */
MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */ MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |0: disarm, 1: arm| 0: only arm-disarm when landed, 21196: enforce arming/disarming even in-air (during flight)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */ MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |0: disarm, 1: arm| 0: only arm-disarm when landed, 21196: enforce arming/disarming even in-air (during flight)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
...@@ -175,13 +175,13 @@ typedef enum MAV_CMD ...@@ -175,13 +175,13 @@ typedef enum MAV_CMD
|Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| Reserved (default:0)| */ |Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| Reserved (default:0)| */
MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */ MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point. MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */ |Reserved| Reserved| Reserved| eserved| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required. MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.
|Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required. MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
|Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area. MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area.
|Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| d| */ |Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area. MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
|Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined. MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
......
matrixpilot/version.h
View file @ 14828912
...@@ -7,7 +7,7 @@ ...@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Aug 21 2019" #define MAVLINK_BUILD_DATE "Sun Aug 25 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0" #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
message_definitions/common.xml
View file @ 14828912
...@@ -168,7 +168,7 @@ ...@@ -168,7 +168,7 @@
<entry value="32" name="MAV_TYPE_FLARM"> <entry value="32" name="MAV_TYPE_FLARM">
<description>FLARM collision avoidance system</description> <description>FLARM collision avoidance system</description>
</entry> </entry>
<entry value="33" name="SERVO"> <entry value="33" name="MAV_TYPE_SERVO">
<description>Servo</description> <description>Servo</description>
</entry> </entry>
</enum> </enum>
......
message_definitions/minimal.xml
View file @ 14828912
...@@ -66,9 +66,9 @@ ...@@ -66,9 +66,9 @@
</entry> </entry>
</enum> </enum>
<enum name="MAV_TYPE"> <enum name="MAV_TYPE">
<description>MAVLINK system type. All components in a system should report this type in their HEARTBEAT.</description> <description>MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).</description>
<entry value="0" name="MAV_TYPE_GENERIC"> <entry value="0" name="MAV_TYPE_GENERIC">
<description>Generic micro air vehicle.</description> <description>Generic micro air vehicle</description>
</entry> </entry>
<entry value="1" name="MAV_TYPE_FIXED_WING"> <entry value="1" name="MAV_TYPE_FIXED_WING">
<description>Fixed wing aircraft.</description> <description>Fixed wing aircraft.</description>
...@@ -147,10 +147,10 @@ ...@@ -147,10 +147,10 @@
<description>VTOL reserved 5</description> <description>VTOL reserved 5</description>
</entry> </entry>
<entry value="26" name="MAV_TYPE_GIMBAL"> <entry value="26" name="MAV_TYPE_GIMBAL">
<description>Gimbal (standalone)</description> <description>Gimbal</description>
</entry> </entry>
<entry value="27" name="MAV_TYPE_ADSB"> <entry value="27" name="MAV_TYPE_ADSB">
<description>ADSB system (standalone)</description> <description>ADSB system</description>
</entry> </entry>
<entry value="28" name="MAV_TYPE_PARAFOIL"> <entry value="28" name="MAV_TYPE_PARAFOIL">
<description>Steerable, nonrigid airfoil</description> <description>Steerable, nonrigid airfoil</description>
...@@ -159,13 +159,16 @@ ...@@ -159,13 +159,16 @@
<description>Dodecarotor</description> <description>Dodecarotor</description>
</entry> </entry>
<entry value="30" name="MAV_TYPE_CAMERA"> <entry value="30" name="MAV_TYPE_CAMERA">
<description>Camera (standalone)</description> <description>Camera</description>
</entry> </entry>
<entry value="31" name="MAV_TYPE_CHARGING_STATION"> <entry value="31" name="MAV_TYPE_CHARGING_STATION">
<description>Charging station</description> <description>Charging station</description>
</entry> </entry>
<entry value="32" name="MAV_TYPE_FLARM"> <entry value="32" name="MAV_TYPE_FLARM">
<description>FLARM collision avoidance system (standalone)</description> <description>FLARM collision avoidance system</description>
</entry>
<entry value="33" name="MAV_TYPE_SERVO">
<description>Servo</description>
</entry> </entry>
</enum> </enum>
<enum name="MAV_MODE_FLAG"> <enum name="MAV_MODE_FLAG">
......
minimal/minimal.h
View file @ 14828912
...@@ -63,12 +63,12 @@ typedef enum MAV_AUTOPILOT ...@@ -63,12 +63,12 @@ typedef enum MAV_AUTOPILOT
} MAV_AUTOPILOT; } MAV_AUTOPILOT;
#endif #endif
/** @brief MAVLINK system type. All components in a system should report this type in their HEARTBEAT. */ /** @brief MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA). */
#ifndef HAVE_ENUM_MAV_TYPE #ifndef HAVE_ENUM_MAV_TYPE
#define HAVE_ENUM_MAV_TYPE #define HAVE_ENUM_MAV_TYPE
typedef enum MAV_TYPE typedef enum MAV_TYPE
{ {
MAV_TYPE_GENERIC=0, /* Generic micro air vehicle. | */ MAV_TYPE_GENERIC=0, /* Generic micro air vehicle | */
MAV_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */ MAV_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
MAV_TYPE_QUADROTOR=2, /* Quadrotor | */ MAV_TYPE_QUADROTOR=2, /* Quadrotor | */
MAV_TYPE_COAXIAL=3, /* Coaxial helicopter | */ MAV_TYPE_COAXIAL=3, /* Coaxial helicopter | */
...@@ -94,14 +94,15 @@ typedef enum MAV_TYPE ...@@ -94,14 +94,15 @@ typedef enum MAV_TYPE
MAV_TYPE_VTOL_RESERVED3=23, /* VTOL reserved 3 | */ MAV_TYPE_VTOL_RESERVED3=23, /* VTOL reserved 3 | */
MAV_TYPE_VTOL_RESERVED4=24, /* VTOL reserved 4 | */ MAV_TYPE_VTOL_RESERVED4=24, /* VTOL reserved 4 | */
MAV_TYPE_VTOL_RESERVED5=25, /* VTOL reserved 5 | */ MAV_TYPE_VTOL_RESERVED5=25, /* VTOL reserved 5 | */
MAV_TYPE_GIMBAL=26, /* Gimbal (standalone) | */ MAV_TYPE_GIMBAL=26, /* Gimbal | */
MAV_TYPE_ADSB=27, /* ADSB system (standalone) | */ MAV_TYPE_ADSB=27, /* ADSB system | */
MAV_TYPE_PARAFOIL=28, /* Steerable, nonrigid airfoil | */ MAV_TYPE_PARAFOIL=28, /* Steerable, nonrigid airfoil | */
MAV_TYPE_DODECAROTOR=29, /* Dodecarotor | */ MAV_TYPE_DODECAROTOR=29, /* Dodecarotor | */
MAV_TYPE_CAMERA=30, /* Camera (standalone) | */ MAV_TYPE_CAMERA=30, /* Camera | */
MAV_TYPE_CHARGING_STATION=31, /* Charging station | */ MAV_TYPE_CHARGING_STATION=31, /* Charging station | */
MAV_TYPE_FLARM=32, /* FLARM collision avoidance system (standalone) | */ MAV_TYPE_FLARM=32, /* FLARM collision avoidance system | */
MAV_TYPE_ENUM_END=33, /* | */ MAV_TYPE_SERVO=33, /* Servo | */
MAV_TYPE_ENUM_END=34, /* | */
} MAV_TYPE; } MAV_TYPE;
#endif #endif
......
minimal/version.h
View file @ 14828912
...@@ -7,7 +7,7 @@ ...@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Aug 21 2019" #define MAVLINK_BUILD_DATE "Sun Aug 25 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0" #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 22
......
slugs/slugs.h
View file @ 14828912
...@@ -44,7 +44,7 @@ typedef enum MAV_CMD ...@@ -44,7 +44,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Number of turns.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Number of turns.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Loiter time.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Loiter time.| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_LAND=21, /* Land at location. |imum target altitude if landing is aborted (0 = undefined/use system default).| Precision land mode.| Empty.| Desired yaw angle. NaN for unchanged.| Latitude.| Longitude.| Landing altitude (ground level in current frame).| */ MAV_CMD_NAV_LAND=21, /* Land at location. |Minimum target altitude if landing is aborted (0 = undefined/use system default).| Precision land mode.| Empty.| Desired yaw angle. NaN for unchanged.| Latitude.| Longitude.| Landing altitude (ground level in current frame).| */
MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |Landing target number (if available)| Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| Landing descend rate| Desired yaw angle| Y-axis position| X-axis position| Z-axis / ground level position| */ MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |Landing target number (if available)| Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| Landing descend rate| Desired yaw angle| Y-axis position| X-axis position| Z-axis / ground level position| */
MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Takeoff ascend rate| Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| Y-axis position| X-axis position| Z-axis position| */ MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Takeoff ascend rate| Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| Y-axis position| X-axis position| Z-axis position| */
...@@ -53,7 +53,7 @@ typedef enum MAV_CMD ...@@ -53,7 +53,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */ MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */
MAV_CMD_DO_FOLLOW=32, /* Begin following a target |System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| RESERVED| RESERVED| Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| Altitude above home. (used if mode=2)| RESERVED| Time to land in which the MAV should go to the default position hold mode after a message RX timeout.| */ MAV_CMD_DO_FOLLOW=32, /* Begin following a target |System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| RESERVED| RESERVED| Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| Altitude above home. (used if mode=2)| RESERVED| Time to land in which the MAV should go to the default position hold mode after a message RX timeout.| */
MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target| X offset from target| Y offset from target| */ MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target| X offset from target| Y offset from target| */
MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |s of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| Tangential Velocity. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */ MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| Tangential Velocity. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
...@@ -82,7 +82,7 @@ typedef enum MAV_CMD ...@@ -82,7 +82,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_LAND_START=189, /* Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty| */ MAV_CMD_DO_LAND_START=189, /* Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty| */
MAV_CMD_DO_RALLY_LAND=190, /* Mission command to perform a landing from a rally point. |Break altitude| Landing speed| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_RALLY_LAND=190, /* Mission command to perform a landing from a rally point. |Break altitude| Landing speed| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_GO_AROUND=191, /* Mission command to safely abort an autonomous landing. |Altitude| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_GO_AROUND=191, /* Mission command to safely abort an autonomous landing. |Altitude| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPOSITION=192, /* Reposition the vehicle to a specific WGS84 global position. |Ground speed, less than 0 (-1) for default| Bitmask of option flags.| Reserved| Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise)| Latitude (deg * 1E7)| (deg * 1E7)| Altitude (meters)| */ MAV_CMD_DO_REPOSITION=192, /* Reposition the vehicle to a specific WGS84 global position. |Ground speed, less than 0 (-1) for default| Bitmask of option flags.| Reserved| Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise)| Latitude (deg * 1E7)| ongitude (deg * 1E7)| Altitude (meters)| */
MAV_CMD_DO_PAUSE_CONTINUE=193, /* If in a GPS controlled position mode, hold the current position or continue. |0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */ MAV_CMD_DO_PAUSE_CONTINUE=193, /* If in a GPS controlled position mode, hold the current position or continue. |0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_DO_SET_REVERSE=194, /* Set moving direction to forward or reverse. |Direction (0=Forward, 1=Reverse)| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_REVERSE=194, /* Set moving direction to forward or reverse. |Direction (0=Forward, 1=Reverse)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_ROI_LOCATION=195, /* Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ MAV_CMD_DO_SET_ROI_LOCATION=195, /* Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
...@@ -90,7 +90,7 @@ typedef enum MAV_CMD ...@@ -90,7 +90,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 0: single images every n seconds| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 0: single images every n seconds| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID (depends on param 1).| Region of interest index. (allows a vehicle to manage multiple ROI's)| Empty| MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude| */ MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode.| Waypoint index/ target ID (depends on param 1).| Region of interest index. (allows a vehicle to manage multiple ROI's)| Empty| MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude| */
MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Modes: P, TV, AV, M, Etc.| Shutter speed: Divisor number for one second.| Aperture: F stop number.| ISO number e.g. 80, 100, 200, Etc.| Exposure type enumerator.| Command Identity.| Main engine cut-off time before camera trigger. (0 means no cut-off)| */ MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Modes: P, TV, AV, M, Etc.| d.| Aperture: F stop number.| ISO number e.g. 80, 100, 200, Etc.| Exposure type enumerator.| Command Identity.| Main engine cut-off time before camera trigger. (0 means no cut-off)| */
MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.| */ MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.| */
MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| */ MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| */
MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch depending on mount mode (degrees or degrees/second depending on pitch input).| roll depending on mount mode (degrees or degrees/second depending on roll input).| yaw depending on mount mode (degrees or degrees/second depending on yaw input).| altitude depending on mount mode.| latitude in degrees * 1E7, set if appropriate mount mode.| longitude in degrees * 1E7, set if appropriate mount mode.| Mount mode.| */ MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch depending on mount mode (degrees or degrees/second depending on pitch input).| roll depending on mount mode (degrees or degrees/second depending on roll input).| yaw depending on mount mode (degrees or degrees/second depending on yaw input).| altitude depending on mount mode.| latitude in degrees * 1E7, set if appropriate mount mode.| longitude in degrees * 1E7, set if appropriate mount mode.| Mount mode.| */
...@@ -103,15 +103,15 @@ typedef enum MAV_CMD ...@@ -103,15 +103,15 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time. -1 or 0 to ignore.| Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |Camera trigger cycle time. -1 or 0 to ignore.| Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |quaternion param q1, w (1 in null-rotation)| quaternion param q2, x (0 in null-rotation)| quaternion param q3, y (0 in null-rotation)| quaternion param q4, z (0 in null-rotation)| Empty| Empty| Empty| */ MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |quaternion param q1, w (1 in null-rotation)| quaternion param q2, x (0 in null-rotation)| quaternion param q3, y (0 in null-rotation)| quaternion param q4, z (0 in null-rotation)| Empty| Empty| Empty| */
MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |ternal controller will be allowed to control vehicle. 0 means no timeout.| Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| Empty| Empty| Empty| */ MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |e that external controller will be allowed to control vehicle. 0 means no timeout.| Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| Empty| Empty| Empty| */
MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |0: Stop engine, 1:Start Engine| 0: Warm start, 1:Cold start. Controls use of choke where applicable| Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |Mission sequence value to set| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |Mission sequence value to set| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| C calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration| */ MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: gyro calibration, 3: gyro temperature calibration| 1: magnetometer calibration| 1: ground pressure calibration| : radio RC calibration, 2: RC trim calibration| 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 1: ESC calibration, 3: barometer temperature calibration| */
MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */
MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */ MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty| */ MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| oader until upgraded.| WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| Reserved, send 0| Reserved, send 0| WIP: ID (e.g. camera ID -1 for all IDs)| */ MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| the bootloader until upgraded.| WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| Reserved, send 0| Reserved, send 0| WIP: ID (e.g. camera ID -1 for all IDs)| */
MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| Coordinate frame of hold point.| Desired yaw angle.| Latitude / X position.| Longitude / Y position.| Altitude / Z position.| */ MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| Coordinate frame of hold point.| Desired yaw angle.| Latitude / X position.| Longitude / Y position.| Altitude / Z position.| */
MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */ MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |0: disarm, 1: arm| 0: only arm-disarm when landed, 21196: enforce arming/disarming even in-air (during flight)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */ MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |0: disarm, 1: arm| 0: only arm-disarm when landed, 21196: enforce arming/disarming even in-air (during flight)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
...@@ -158,13 +158,13 @@ typedef enum MAV_CMD ...@@ -158,13 +158,13 @@ typedef enum MAV_CMD
|Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| Reserved (default:0)| */ |Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| Reserved (default:0)| */
MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */ MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point. MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */ |Reserved| Reserved| Reserved| eserved| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required. MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.
|Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required. MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
|Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Polygon vertex count| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area. MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area.
|Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| d| */ |Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area. MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
|Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */ |Radius.| Reserved| Reserved| Reserved| Latitude| Longitude| Reserved| */
MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined. MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
......
slugs/version.h
View file @ 14828912
...@@ -7,7 +7,7 @@ ...@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Aug 21 2019" #define MAVLINK_BUILD_DATE "Sun Aug 25 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0" #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
standard/version.h
View file @ 14828912
...@@ -7,7 +7,7 @@ ...@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Aug 21 2019" #define MAVLINK_BUILD_DATE "Sun Aug 25 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0" #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
test/version.h
View file @ 14828912
...@@ -7,7 +7,7 @@ ...@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Aug 21 2019" #define MAVLINK_BUILD_DATE "Sun Aug 25 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0" #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
......
uAvionix/version.h
View file @ 14828912
...@@ -7,7 +7,7 @@ ...@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H #ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H #define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Aug 21 2019" #define MAVLINK_BUILD_DATE "Sun Aug 25 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0" #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
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