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C-Astral dialect C library
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autogenerated headers for rev... 

autogenerated headers for rev https://github.com/mavlink/mavlink/tree/b21a2652249a27a151b38cd3da5c4ac9d51fcb69
parent d465e225
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ASLUAV/ASLUAV.h
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......@@ -39,13 +39,13 @@ extern "C" {
#define HAVE_ENUM_MAV_CMD
typedef enum MAV_CMD
{
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| or clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| 0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |Empty| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 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_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
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| ent), 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_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_FOLLOW=25, /* Vehicle following, i.e. this waypoint represents the position of a moving vehicle |Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation| Ground speed of vehicle to be followed| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
......@@ -53,13 +53,13 @@ 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_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_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.| itude (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_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_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |Empty| Front transition heading.| Empty| Yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_VTOL_LAND=85, /* Land using VTOL mode |Empty| Empty| Approach altitude (with the same reference as the Altitude field). NaN if unspecified.| Yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude (ground level)| */
MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_DELAY=93, /* Delay the next navigation command a number of seconds or until a specified time |Delay (-1 to enable time-of-day fields)| hour (24h format, UTC, -1 to ignore)| minute (24h format, UTC, -1 to ignore)| second (24h format, UTC)| Empty| Empty| Empty| */
MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |Maximum distance to descend.| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
......@@ -71,13 +71,13 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode| Custom mode - this is system specific, please refer to the individual autopilot specifications for details.| Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed, 2=Climb Speed, 3=Descent Speed)| Speed (-1 indicates no change)| Throttle (-1 indicates no change)| 0: absolute, 1: relative| Empty| Empty| Empty| */
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay instance number.| Setting. (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cycles with a desired period. |Relay instance number.| Cycle count.| Cycle time.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo instance number.| Pulse Width Modulation.| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo instance number.| Pulse Width Modulation.| Cycle count.| Cycle time.| Empty| Empty| Empty| */
MAV_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |0.5| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CHANGE_ALTITUDE=186, /* Change altitude set point. |Altitude.| Frame of new altitude.| Empty| Empty| Empty| Empty| 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| */
......@@ -88,12 +88,12 @@ typedef enum MAV_CMD
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_WPNEXT_OFFSET=196, /* Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. 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| pitch offset from next waypoint| roll offset from next waypoint| yaw offset from next waypoint| */
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| Transmission mode: 0: video stream, >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_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_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 ). |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_CONTROL=205, /* Mission command to control a camera or antenna mount |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.| */
MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |Camera trigger distance. 0 to stop triggering.| Camera shutter integration time. -1 or 0 to ignore| Trigger camera once immediately. (0 = no trigger, 1 = trigger)| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable, 2=disable_floor_only)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action| Empty| Empty| Empty| Empty| Empty| Empty| */
......@@ -101,7 +101,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight. |Inverted flight. (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change. |Yaw angle to adjust steering by.| Speed.| Final angle. (0=absolute, 1=relative)| 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)| aram 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_LIMITS=222, /* Set limits for external control |Timeout - maximum time 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| */
......@@ -110,21 +110,21 @@ typedef enum MAV_CMD
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| 1: 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_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| 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| Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 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.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in 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_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_GET_HOME_POSITION=410, /* Request the home position from the vehicle. |Reserved| Reserved| Reserved| erved| Reserved| Reserved| Reserved| */
MAV_CMD_GET_HOME_POSITION=410, /* Request the home position from the vehicle. |Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing. |0:Spektrum.| RC type.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_GET_MESSAGE_INTERVAL=510, /* Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message. |The MAVLink message ID| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_SET_MESSAGE_INTERVAL=511, /* Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM. |The MAVLink message ID| The interval between two messages. Set to -1 to disable and 0 to request default rate.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_MESSAGE=512, /* Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL). |The MAVLink message ID of the requested message.| requested message.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_MESSAGE=512, /* Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL). |The MAVLink message ID of the requested message.| Index id (if appropriate). The use of this parameter (if any), must be defined in the requested message.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_PROTOCOL_VERSION=519, /* Request MAVLink protocol version compatibility |1: Request supported protocol versions by all nodes on the network| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES=520, /* Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message |1: Request autopilot version| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |0: No Action 1: Request camera settings| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |0: No Action 1: Request camera capture status| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
......@@ -138,11 +138,11 @@ typedef enum MAV_CMD
MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE message. Use NaN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE message| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 1 to reset the trigger sequence, -1 or 0 to ignore| 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| ise frequency)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_STOP_CAPTURE=2501, /* Stop the current video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |Format: 0: ULog| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
......@@ -170,7 +170,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */
MAV_CMD_UAVCAN_GET_NODE_INFO=5200, /* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |existing deployment list.| Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Altitude (MSL), in meters| */
MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Altitude (MSL), in meters| */
MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
......@@ -182,7 +182,7 @@ typedef enum MAV_CMD
MAV_CMD_SPATIAL_USER_3=31007, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_SPATIAL_USER_5=31009, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| efined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_2=31011, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_3=31012, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_4=31013, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
......
ardupilotmega/ardupilotmega.h
View file @ be2f1fbe
......@@ -56,13 +56,13 @@ typedef enum ACCELCAL_VEHICLE_POS
#define HAVE_ENUM_MAV_CMD
typedef enum MAV_CMD
{
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| or clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| 0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |Empty| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 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_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
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| ent), 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_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_FOLLOW=25, /* Vehicle following, i.e. this waypoint represents the position of a moving vehicle |Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation| Ground speed of vehicle to be followed| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
......@@ -70,14 +70,14 @@ 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_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_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.| itude (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_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_ALTITUDE_WAIT=83, /* Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up. |Altitude (m).| Descent speed (m/s).| Wiggle Time (s).| Empty.| Empty.| Empty.| Empty.| */
MAV_CMD_NAV_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |Empty| Front transition heading.| Empty| Yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_VTOL_LAND=85, /* Land using VTOL mode |Empty| Empty| Approach altitude (with the same reference as the Altitude field). NaN if unspecified.| Yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude (ground level)| */
MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_DELAY=93, /* Delay the next navigation command a number of seconds or until a specified time |Delay (-1 to enable time-of-day fields)| hour (24h format, UTC, -1 to ignore)| minute (24h format, UTC, -1 to ignore)| second (24h format, UTC)| Empty| Empty| Empty| */
MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |Maximum distance to descend.| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
......@@ -89,13 +89,13 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode| Custom mode - this is system specific, please refer to the individual autopilot specifications for details.| Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed, 2=Climb Speed, 3=Descent Speed)| Speed (-1 indicates no change)| Throttle (-1 indicates no change)| 0: absolute, 1: relative| Empty| Empty| Empty| */
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay instance number.| Setting. (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cycles with a desired period. |Relay instance number.| Cycle count.| Cycle time.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo instance number.| Pulse Width Modulation.| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo instance number.| Pulse Width Modulation.| Cycle count.| Cycle time.| Empty| Empty| Empty| */
MAV_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |0.5| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CHANGE_ALTITUDE=186, /* Change altitude set point. |Altitude.| Frame of new altitude.| Empty| Empty| Empty| Empty| 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| */
......@@ -106,12 +106,12 @@ typedef enum MAV_CMD
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_WPNEXT_OFFSET=196, /* Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. 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| pitch offset from next waypoint| roll offset from next waypoint| yaw offset from next waypoint| */
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| Transmission mode: 0: video stream, >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_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_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 ). |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_CONTROL=205, /* Mission command to control a camera or antenna mount |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.| */
MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |Camera trigger distance. 0 to stop triggering.| Camera shutter integration time. -1 or 0 to ignore| Trigger camera once immediately. (0 = no trigger, 1 = trigger)| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable, 2=disable_floor_only)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action| Empty| Empty| Empty| Empty| Empty| Empty| */
......@@ -121,7 +121,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_AUTOTUNE_ENABLE=212, /* Enable/disable autotune. |Enable (1: enable, 0:disable).| Empty.| Empty.| Empty.| Empty.| Empty.| Empty.| */
MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change. |Yaw angle to adjust steering by.| Speed.| Final angle. (0=absolute, 1=relative)| 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)| aram 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_LIMITS=222, /* Set limits for external control |Timeout - maximum time 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| */
......@@ -130,21 +130,21 @@ typedef enum MAV_CMD
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| 1: 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_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| 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| Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 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.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in 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_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_GET_HOME_POSITION=410, /* Request the home position from the vehicle. |Reserved| Reserved| Reserved| erved| Reserved| Reserved| Reserved| */
MAV_CMD_GET_HOME_POSITION=410, /* Request the home position from the vehicle. |Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing. |0:Spektrum.| RC type.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_GET_MESSAGE_INTERVAL=510, /* Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message. |The MAVLink message ID| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_SET_MESSAGE_INTERVAL=511, /* Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM. |The MAVLink message ID| The interval between two messages. Set to -1 to disable and 0 to request default rate.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_MESSAGE=512, /* Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL). |The MAVLink message ID of the requested message.| requested message.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_MESSAGE=512, /* Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL). |The MAVLink message ID of the requested message.| Index id (if appropriate). The use of this parameter (if any), must be defined in the requested message.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_PROTOCOL_VERSION=519, /* Request MAVLink protocol version compatibility |1: Request supported protocol versions by all nodes on the network| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES=520, /* Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message |1: Request autopilot version| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |0: No Action 1: Request camera settings| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |0: No Action 1: Request camera capture status| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
......@@ -158,11 +158,11 @@ typedef enum MAV_CMD
MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE message. Use NaN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE message| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 1 to reset the trigger sequence, -1 or 0 to ignore| 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| ise frequency)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_STOP_CAPTURE=2501, /* Stop the current video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |Format: 0: ULog| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
......@@ -190,7 +190,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */
MAV_CMD_UAVCAN_GET_NODE_INFO=5200, /* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |existing deployment list.| Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Altitude (MSL), in meters| */
MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Altitude (MSL), in meters| */
MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
......@@ -202,7 +202,7 @@ typedef enum MAV_CMD
MAV_CMD_SPATIAL_USER_3=31007, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_SPATIAL_USER_5=31009, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| efined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_2=31011, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_3=31012, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_4=31013, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
......@@ -214,7 +214,7 @@ typedef enum MAV_CMD
MAV_CMD_FIXED_MAG_CAL=42004, /* Magnetometer calibration based on fixed position
in earth field given by inclination, declination and intensity. |MagDeclinationDegrees.| MagInclinationDegrees.| MagIntensityMilliGauss.| YawDegrees.| Empty.| Empty.| Empty.| */
MAV_CMD_FIXED_MAG_CAL_FIELD=42005, /* Magnetometer calibration based on fixed expected field values in milliGauss. |FieldX.| FieldY.| FieldZ.| Empty.| Empty.| Empty.| Empty.| */
MAV_CMD_DO_START_MAG_CAL=42424, /* Initiate a magnetometer calibration. |uint8_t bitmask of magnetometers (0 means all).| Automatically retry on failure (0=no retry, 1=retry).| quire input, 1=autosave).| Delay (seconds).| Autoreboot (0=user reboot, 1=autoreboot).| Empty.| Empty.| */
MAV_CMD_DO_START_MAG_CAL=42424, /* Initiate a magnetometer calibration. |uint8_t bitmask of magnetometers (0 means all).| Automatically retry on failure (0=no retry, 1=retry).| Save without user input (0=require input, 1=autosave).| Delay (seconds).| Autoreboot (0=user reboot, 1=autoreboot).| Empty.| Empty.| */
MAV_CMD_DO_ACCEPT_MAG_CAL=42425, /* Initiate a magnetometer calibration. |uint8_t bitmask of magnetometers (0 means all).| Empty.| Empty.| Empty.| Empty.| Empty.| Empty.| */
MAV_CMD_DO_CANCEL_MAG_CAL=42426, /* Cancel a running magnetometer calibration. |uint8_t bitmask of magnetometers (0 means all).| Empty.| Empty.| Empty.| Empty.| Empty.| Empty.| */
MAV_CMD_SET_FACTORY_TEST_MODE=42427, /* Command autopilot to get into factory test/diagnostic mode. |0 means get out of test mode, 1 means get into test mode.| Empty.| Empty.| Empty.| Empty.| Empty.| Empty.| */
......
autoquad/autoquad.h
View file @ be2f1fbe
......@@ -83,13 +83,13 @@ typedef enum MAV_CMD
MAV_CMD_AQ_NAV_LEG_ORBIT=1, /* Orbit a waypoint. |Orbit radius in meters| Loiter time in decimal seconds| Maximum horizontal speed in m/s| Desired yaw angle at waypoint| Latitude| Longitude| Altitude| */
MAV_CMD_AQ_TELEMETRY=2, /* Start/stop AutoQuad telemetry values stream. |Start or stop (1 or 0)| Stream frequency in us| Dataset ID (refer to aq_mavlink.h::mavlinkCustomDataSets enum in AQ flight controller code)| Empty| Empty| Empty| Empty| */
MAV_CMD_AQ_REQUEST_VERSION=4, /* Request AutoQuad firmware version number. |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| or clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| 0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |Empty| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 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_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
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| ent), 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_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_FOLLOW=25, /* Vehicle following, i.e. this waypoint represents the position of a moving vehicle |Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation| Ground speed of vehicle to be followed| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
......@@ -97,13 +97,13 @@ 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_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_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.| itude (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_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_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |Empty| Front transition heading.| Empty| Yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_VTOL_LAND=85, /* Land using VTOL mode |Empty| Empty| Approach altitude (with the same reference as the Altitude field). NaN if unspecified.| Yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude (ground level)| */
MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_DELAY=93, /* Delay the next navigation command a number of seconds or until a specified time |Delay (-1 to enable time-of-day fields)| hour (24h format, UTC, -1 to ignore)| minute (24h format, UTC, -1 to ignore)| second (24h format, UTC)| Empty| Empty| Empty| */
MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |Maximum distance to descend.| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
......@@ -115,13 +115,13 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode| Custom mode - this is system specific, please refer to the individual autopilot specifications for details.| Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed, 2=Climb Speed, 3=Descent Speed)| Speed (-1 indicates no change)| Throttle (-1 indicates no change)| 0: absolute, 1: relative| Empty| Empty| Empty| */
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay instance number.| Setting. (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cycles with a desired period. |Relay instance number.| Cycle count.| Cycle time.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo instance number.| Pulse Width Modulation.| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo instance number.| Pulse Width Modulation.| Cycle count.| Cycle time.| Empty| Empty| Empty| */
MAV_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |0.5| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CHANGE_ALTITUDE=186, /* Change altitude set point. |Altitude.| Frame of new altitude.| Empty| Empty| Empty| Empty| 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| */
......@@ -132,12 +132,12 @@ typedef enum MAV_CMD
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_WPNEXT_OFFSET=196, /* Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. 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| pitch offset from next waypoint| roll offset from next waypoint| yaw offset from next waypoint| */
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| Transmission mode: 0: video stream, >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_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_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 ). |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_CONTROL=205, /* Mission command to control a camera or antenna mount |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.| */
MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |Camera trigger distance. 0 to stop triggering.| Camera shutter integration time. -1 or 0 to ignore| Trigger camera once immediately. (0 = no trigger, 1 = trigger)| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable, 2=disable_floor_only)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action| Empty| Empty| Empty| Empty| Empty| Empty| */
......@@ -145,7 +145,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight. |Inverted flight. (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change. |Yaw angle to adjust steering by.| Speed.| Final angle. (0=absolute, 1=relative)| 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)| aram 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_LIMITS=222, /* Set limits for external control |Timeout - maximum time 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| */
......@@ -154,21 +154,21 @@ typedef enum MAV_CMD
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| 1: 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_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| 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| Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 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.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in 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_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_GET_HOME_POSITION=410, /* Request the home position from the vehicle. |Reserved| Reserved| Reserved| erved| Reserved| Reserved| Reserved| */
MAV_CMD_GET_HOME_POSITION=410, /* Request the home position from the vehicle. |Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing. |0:Spektrum.| RC type.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_GET_MESSAGE_INTERVAL=510, /* Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message. |The MAVLink message ID| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_SET_MESSAGE_INTERVAL=511, /* Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM. |The MAVLink message ID| The interval between two messages. Set to -1 to disable and 0 to request default rate.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_MESSAGE=512, /* Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL). |The MAVLink message ID of the requested message.| requested message.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_MESSAGE=512, /* Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL). |The MAVLink message ID of the requested message.| Index id (if appropriate). The use of this parameter (if any), must be defined in the requested message.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_PROTOCOL_VERSION=519, /* Request MAVLink protocol version compatibility |1: Request supported protocol versions by all nodes on the network| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES=520, /* Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message |1: Request autopilot version| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |0: No Action 1: Request camera settings| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |0: No Action 1: Request camera capture status| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
......@@ -182,11 +182,11 @@ typedef enum MAV_CMD
MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE message. Use NaN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE message| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 1 to reset the trigger sequence, -1 or 0 to ignore| 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| ise frequency)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_STOP_CAPTURE=2501, /* Stop the current video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |Format: 0: ULog| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
......@@ -214,7 +214,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */
MAV_CMD_UAVCAN_GET_NODE_INFO=5200, /* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |existing deployment list.| Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Altitude (MSL), in meters| */
MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Altitude (MSL), in meters| */
MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
......@@ -226,7 +226,7 @@ typedef enum MAV_CMD
MAV_CMD_SPATIAL_USER_3=31007, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_SPATIAL_USER_5=31009, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| efined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_2=31011, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_3=31012, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_4=31013, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
......
common/common.h
View file @ be2f1fbe
......@@ -541,13 +541,13 @@ typedef enum STORAGE_STATUS
#define HAVE_ENUM_MAV_CMD
typedef enum MAV_CMD
{
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| or clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| 0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |Empty| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 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_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
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| ent), 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_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_FOLLOW=25, /* Vehicle following, i.e. this waypoint represents the position of a moving vehicle |Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation| Ground speed of vehicle to be followed| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
......@@ -555,13 +555,13 @@ 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_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_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.| itude (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_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_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |Empty| Front transition heading.| Empty| Yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_VTOL_LAND=85, /* Land using VTOL mode |Empty| Empty| Approach altitude (with the same reference as the Altitude field). NaN if unspecified.| Yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude (ground level)| */
MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_DELAY=93, /* Delay the next navigation command a number of seconds or until a specified time |Delay (-1 to enable time-of-day fields)| hour (24h format, UTC, -1 to ignore)| minute (24h format, UTC, -1 to ignore)| second (24h format, UTC)| Empty| Empty| Empty| */
MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |Maximum distance to descend.| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
......@@ -573,13 +573,13 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode| Custom mode - this is system specific, please refer to the individual autopilot specifications for details.| Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed, 2=Climb Speed, 3=Descent Speed)| Speed (-1 indicates no change)| Throttle (-1 indicates no change)| 0: absolute, 1: relative| Empty| Empty| Empty| */
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay instance number.| Setting. (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cycles with a desired period. |Relay instance number.| Cycle count.| Cycle time.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo instance number.| Pulse Width Modulation.| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo instance number.| Pulse Width Modulation.| Cycle count.| Cycle time.| Empty| Empty| Empty| */
MAV_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |0.5| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CHANGE_ALTITUDE=186, /* Change altitude set point. |Altitude.| Frame of new altitude.| Empty| Empty| Empty| Empty| 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| */
......@@ -590,12 +590,12 @@ typedef enum MAV_CMD
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_WPNEXT_OFFSET=196, /* Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. 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| pitch offset from next waypoint| roll offset from next waypoint| yaw offset from next waypoint| */
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| Transmission mode: 0: video stream, >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_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_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 ). |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_CONTROL=205, /* Mission command to control a camera or antenna mount |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.| */
MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |Camera trigger distance. 0 to stop triggering.| Camera shutter integration time. -1 or 0 to ignore| Trigger camera once immediately. (0 = no trigger, 1 = trigger)| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable, 2=disable_floor_only)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action| Empty| Empty| Empty| Empty| Empty| Empty| */
......@@ -603,7 +603,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight. |Inverted flight. (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change. |Yaw angle to adjust steering by.| Speed.| Final angle. (0=absolute, 1=relative)| 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)| aram 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_LIMITS=222, /* Set limits for external control |Timeout - maximum time 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| */
......@@ -612,21 +612,21 @@ typedef enum MAV_CMD
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| 1: 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_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| 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| Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 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.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in 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_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_GET_HOME_POSITION=410, /* Request the home position from the vehicle. |Reserved| Reserved| Reserved| erved| Reserved| Reserved| Reserved| */
MAV_CMD_GET_HOME_POSITION=410, /* Request the home position from the vehicle. |Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing. |0:Spektrum.| RC type.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_GET_MESSAGE_INTERVAL=510, /* Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message. |The MAVLink message ID| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_SET_MESSAGE_INTERVAL=511, /* Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM. |The MAVLink message ID| The interval between two messages. Set to -1 to disable and 0 to request default rate.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_MESSAGE=512, /* Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL). |The MAVLink message ID of the requested message.| requested message.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_MESSAGE=512, /* Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL). |The MAVLink message ID of the requested message.| Index id (if appropriate). The use of this parameter (if any), must be defined in the requested message.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_PROTOCOL_VERSION=519, /* Request MAVLink protocol version compatibility |1: Request supported protocol versions by all nodes on the network| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES=520, /* Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message |1: Request autopilot version| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |0: No Action 1: Request camera settings| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |0: No Action 1: Request camera capture status| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
......@@ -640,11 +640,11 @@ typedef enum MAV_CMD
MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE message. Use NaN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE message| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 1 to reset the trigger sequence, -1 or 0 to ignore| 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| ise frequency)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_STOP_CAPTURE=2501, /* Stop the current video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |Format: 0: ULog| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
......@@ -672,7 +672,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */
MAV_CMD_UAVCAN_GET_NODE_INFO=5200, /* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |existing deployment list.| Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Altitude (MSL), in meters| */
MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Altitude (MSL), in meters| */
MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
......@@ -684,7 +684,7 @@ typedef enum MAV_CMD
MAV_CMD_SPATIAL_USER_3=31007, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_SPATIAL_USER_5=31009, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| efined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_2=31011, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_3=31012, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_4=31013, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
......
matrixpilot/matrixpilot.h
View file @ be2f1fbe
......@@ -56,13 +56,13 @@ typedef enum MAV_PREFLIGHT_STORAGE_ACTION
typedef enum MAV_CMD
{
MAV_CMD_PREFLIGHT_STORAGE_ADVANCED=0, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED| Storage area as defined by parameter database| Storage flags as defined by parameter database| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| or clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| 0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |Empty| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 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_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
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| ent), 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_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_FOLLOW=25, /* Vehicle following, i.e. this waypoint represents the position of a moving vehicle |Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation| Ground speed of vehicle to be followed| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
......@@ -70,13 +70,13 @@ 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_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_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.| itude (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_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_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |Empty| Front transition heading.| Empty| Yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_VTOL_LAND=85, /* Land using VTOL mode |Empty| Empty| Approach altitude (with the same reference as the Altitude field). NaN if unspecified.| Yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude (ground level)| */
MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_DELAY=93, /* Delay the next navigation command a number of seconds or until a specified time |Delay (-1 to enable time-of-day fields)| hour (24h format, UTC, -1 to ignore)| minute (24h format, UTC, -1 to ignore)| second (24h format, UTC)| Empty| Empty| Empty| */
MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |Maximum distance to descend.| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
......@@ -88,13 +88,13 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode| Custom mode - this is system specific, please refer to the individual autopilot specifications for details.| Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed, 2=Climb Speed, 3=Descent Speed)| Speed (-1 indicates no change)| Throttle (-1 indicates no change)| 0: absolute, 1: relative| Empty| Empty| Empty| */
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay instance number.| Setting. (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cycles with a desired period. |Relay instance number.| Cycle count.| Cycle time.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo instance number.| Pulse Width Modulation.| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo instance number.| Pulse Width Modulation.| Cycle count.| Cycle time.| Empty| Empty| Empty| */
MAV_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |0.5| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CHANGE_ALTITUDE=186, /* Change altitude set point. |Altitude.| Frame of new altitude.| Empty| Empty| Empty| Empty| 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| */
......@@ -105,12 +105,12 @@ typedef enum MAV_CMD
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_WPNEXT_OFFSET=196, /* Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. 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| pitch offset from next waypoint| roll offset from next waypoint| yaw offset from next waypoint| */
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| Transmission mode: 0: video stream, >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_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_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 ). |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_CONTROL=205, /* Mission command to control a camera or antenna mount |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.| */
MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |Camera trigger distance. 0 to stop triggering.| Camera shutter integration time. -1 or 0 to ignore| Trigger camera once immediately. (0 = no trigger, 1 = trigger)| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable, 2=disable_floor_only)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action| Empty| Empty| Empty| Empty| Empty| Empty| */
......@@ -118,7 +118,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight. |Inverted flight. (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change. |Yaw angle to adjust steering by.| Speed.| Final angle. (0=absolute, 1=relative)| 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)| aram 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_LIMITS=222, /* Set limits for external control |Timeout - maximum time 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| */
......@@ -127,21 +127,21 @@ typedef enum MAV_CMD
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| 1: 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_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| 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| Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 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.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in 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_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_GET_HOME_POSITION=410, /* Request the home position from the vehicle. |Reserved| Reserved| Reserved| erved| Reserved| Reserved| Reserved| */
MAV_CMD_GET_HOME_POSITION=410, /* Request the home position from the vehicle. |Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing. |0:Spektrum.| RC type.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_GET_MESSAGE_INTERVAL=510, /* Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message. |The MAVLink message ID| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_SET_MESSAGE_INTERVAL=511, /* Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM. |The MAVLink message ID| The interval between two messages. Set to -1 to disable and 0 to request default rate.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_MESSAGE=512, /* Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL). |The MAVLink message ID of the requested message.| requested message.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_MESSAGE=512, /* Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL). |The MAVLink message ID of the requested message.| Index id (if appropriate). The use of this parameter (if any), must be defined in the requested message.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_PROTOCOL_VERSION=519, /* Request MAVLink protocol version compatibility |1: Request supported protocol versions by all nodes on the network| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES=520, /* Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message |1: Request autopilot version| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |0: No Action 1: Request camera settings| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |0: No Action 1: Request camera capture status| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
......@@ -155,11 +155,11 @@ typedef enum MAV_CMD
MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE message. Use NaN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE message| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 1 to reset the trigger sequence, -1 or 0 to ignore| 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| ise frequency)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_STOP_CAPTURE=2501, /* Stop the current video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |Format: 0: ULog| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
......@@ -187,7 +187,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */
MAV_CMD_UAVCAN_GET_NODE_INFO=5200, /* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |existing deployment list.| Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Altitude (MSL), in meters| */
MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Altitude (MSL), in meters| */
MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
......@@ -199,7 +199,7 @@ typedef enum MAV_CMD
MAV_CMD_SPATIAL_USER_3=31007, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_SPATIAL_USER_5=31009, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| efined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_2=31011, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_3=31012, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_4=31013, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
......
mavlink_helpers.h
View file @ be2f1fbe
......@@ -49,6 +49,14 @@ MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
}
#endif // MAVLINK_GET_CHANNEL_BUFFER
/* Enable this option to check the length of each message.
This allows invalid messages to be caught much sooner. Use if the transmission
medium is prone to missing (or extra) characters (e.g. a radio that fades in
and out). Only use if the channel will only contain messages types listed in
the headers.
*/
//#define MAVLINK_CHECK_MESSAGE_LENGTH
/**
* @brief Reset the status of a channel.
*/
......@@ -495,7 +503,7 @@ MAVLINK_HELPER const mavlink_msg_entry_t *mavlink_get_msg_entry(uint32_t msgid)
use a bisection search to find the right entry. A perfect hash may be better
Note that this assumes the table is sorted by msgid
*/
uint32_t low=0, high=sizeof(mavlink_message_crcs)/sizeof(mavlink_message_crcs[0]);
uint32_t low=0, high=sizeof(mavlink_message_crcs)/sizeof(mavlink_message_crcs[0]) - 1;
while (low < high) {
uint32_t mid = (low+1+high)/2;
if (msgid < mavlink_message_crcs[mid].msgid) {
......@@ -566,19 +574,6 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
mavlink_message_t* r_message,
mavlink_status_t* r_mavlink_status)
{
/* Enable this option to check the length of each message.
This allows invalid messages to be caught much sooner. Use if the transmission
medium is prone to missing (or extra) characters (e.g. a radio that fades in
and out). Only use if the channel will only contain messages types listed in
the headers.
*/
#ifdef MAVLINK_CHECK_MESSAGE_LENGTH
#ifndef MAVLINK_MESSAGE_LENGTH
static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS;
#define MAVLINK_MESSAGE_LENGTH(msgid) mavlink_message_lengths[msgid]
#endif
#endif
int bufferIndex = 0;
status->msg_received = MAVLINK_FRAMING_INCOMPLETE;
......@@ -674,23 +669,23 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
case MAVLINK_PARSE_STATE_GOT_COMPID:
rxmsg->msgid = c;
mavlink_update_checksum(rxmsg, c);
if (status->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) {
if(rxmsg->len > 0){
status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID3;
} else {
status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
}
if (status->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) {
if(rxmsg->len > 0) {
status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID3;
} else {
status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
}
#ifdef MAVLINK_CHECK_MESSAGE_LENGTH
if (rxmsg->len != MAVLINK_MESSAGE_LENGTH(rxmsg->msgid))
{
_mav_parse_error(status);
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
break;
}
if (rxmsg->len < mavlink_min_message_length(rxmsg) ||
rxmsg->len > mavlink_max_message_length(rxmsg)) {
_mav_parse_error(status);
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
break;
}
#endif
} else {
status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID1;
}
} else {
status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID1;
}
break;
case MAVLINK_PARSE_STATE_GOT_MSGID1:
......@@ -708,12 +703,13 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
}
#ifdef MAVLINK_CHECK_MESSAGE_LENGTH
if (rxmsg->len != MAVLINK_MESSAGE_LENGTH(rxmsg->msgid))
{
if (rxmsg->len < mavlink_min_message_length(rxmsg) ||
rxmsg->len > mavlink_max_message_length(rxmsg))
{
_mav_parse_error(status);
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
break;
}
}
#endif
break;
......
slugs/slugs.h
View file @ be2f1fbe
......@@ -39,13 +39,13 @@ extern "C" {
#define HAVE_ENUM_MAV_CMD
typedef enum MAV_CMD
{
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| or clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| 0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |Empty| Empty| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 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_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
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| ent), 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_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_FOLLOW=25, /* Vehicle following, i.e. this waypoint represents the position of a moving vehicle |Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation| Ground speed of vehicle to be followed| Radius around waypoint. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
......@@ -53,13 +53,13 @@ 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_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_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.| itude (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_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_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |Empty| Front transition heading.| Empty| Yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_VTOL_LAND=85, /* Land using VTOL mode |Empty| Empty| Approach altitude (with the same reference as the Altitude field). NaN if unspecified.| Yaw angle. NaN for unchanged.| Latitude| Longitude| Altitude (ground level)| */
MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_DELAY=93, /* Delay the next navigation command a number of seconds or until a specified time |Delay (-1 to enable time-of-day fields)| hour (24h format, UTC, -1 to ignore)| minute (24h format, UTC, -1 to ignore)| second (24h format, UTC)| Empty| Empty| Empty| */
MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |Maximum distance to descend.| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
......@@ -71,13 +71,13 @@ typedef enum MAV_CMD
MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode| Custom mode - this is system specific, please refer to the individual autopilot specifications for details.| Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed, 2=Climb Speed, 3=Descent Speed)| Speed (-1 indicates no change)| Throttle (-1 indicates no change)| 0: absolute, 1: relative| Empty| Empty| Empty| */
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay instance number.| Setting. (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cycles with a desired period. |Relay instance number.| Cycle count.| Cycle time.| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo instance number.| Pulse Width Modulation.| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo instance number.| Pulse Width Modulation.| Cycle count.| Cycle time.| Empty| Empty| Empty| */
MAV_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |0.5| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CHANGE_ALTITUDE=186, /* Change altitude set point. |Altitude.| Frame of new altitude.| Empty| Empty| Empty| Empty| 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| */
......@@ -88,12 +88,12 @@ typedef enum MAV_CMD
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_WPNEXT_OFFSET=196, /* Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. 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| pitch offset from next waypoint| roll offset from next waypoint| yaw offset from next waypoint| */
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| Transmission mode: 0: video stream, >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_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_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 ). |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_CONTROL=205, /* Mission command to control a camera or antenna mount |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.| */
MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |Camera trigger distance. 0 to stop triggering.| Camera shutter integration time. -1 or 0 to ignore| Trigger camera once immediately. (0 = no trigger, 1 = trigger)| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable, 2=disable_floor_only)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action| Empty| Empty| Empty| Empty| Empty| Empty| */
......@@ -101,7 +101,7 @@ typedef enum MAV_CMD
MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight. |Inverted flight. (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change. |Yaw angle to adjust steering by.| Speed.| Final angle. (0=absolute, 1=relative)| 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)| aram 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_LIMITS=222, /* Set limits for external control |Timeout - maximum time 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| */
......@@ -110,21 +110,21 @@ typedef enum MAV_CMD
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| 1: 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_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| 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| Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 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.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in 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_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_GET_HOME_POSITION=410, /* Request the home position from the vehicle. |Reserved| Reserved| Reserved| erved| Reserved| Reserved| Reserved| */
MAV_CMD_GET_HOME_POSITION=410, /* Request the home position from the vehicle. |Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing. |0:Spektrum.| RC type.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_GET_MESSAGE_INTERVAL=510, /* Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message. |The MAVLink message ID| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_SET_MESSAGE_INTERVAL=511, /* Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM. |The MAVLink message ID| The interval between two messages. Set to -1 to disable and 0 to request default rate.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_MESSAGE=512, /* Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL). |The MAVLink message ID of the requested message.| requested message.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_MESSAGE=512, /* Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL). |The MAVLink message ID of the requested message.| Index id (if appropriate). The use of this parameter (if any), must be defined in the requested message.| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_PROTOCOL_VERSION=519, /* Request MAVLink protocol version compatibility |1: Request supported protocol versions by all nodes on the network| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES=520, /* Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message |1: Request autopilot version| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |0: No Action 1: Request camera settings| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |0: No Action 1: Request camera capture status| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
......@@ -138,11 +138,11 @@ typedef enum MAV_CMD
MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE message. Use NaN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE message| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 1 to reset the trigger sequence, -1 or 0 to ignore| 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| ise frequency)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_STOP_CAPTURE=2501, /* Stop the current video capture (recording). Use NaN for reserved values. |Video Stream ID (0 for all streams)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |Format: 0: ULog| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
......@@ -176,7 +176,7 @@ typedef enum MAV_CMD
MAV_CMD_TURN_LIGHT=10013, /* Turns the vehicle's visible or infrared lights on or off. |0: visible lights, 1: infrared lights| 0: turn on, 1: turn off| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_GET_MID_LEVEL_COMMANDS=10014, /* Requests vehicle to send current mid-level commands to ground station. |Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_MIDLEVEL_STORAGE=10015, /* Requests storage of mid-level commands. |Mid-level command storage: 0: read from flash/EEPROM, 1: write to flash/EEPROM| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| */
MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |existing deployment list.| Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Altitude (MSL), in meters| */
MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Altitude (MSL), in meters| */
MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
......@@ -188,7 +188,7 @@ typedef enum MAV_CMD
MAV_CMD_SPATIAL_USER_3=31007, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_SPATIAL_USER_5=31009, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude (MSL), in meters| */
MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| efined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_2=31011, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_3=31012, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
MAV_CMD_USER_4=31013, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
......
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