mirror of https://github.com/ArduPilot/ardupilot
86 lines
3.6 KiB
Plaintext
86 lines
3.6 KiB
Plaintext
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ArduPilotMega 2.0 Commands
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Command Structure in bytes
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0 0x00 byte Command ID
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1 0x01 byte Parameter 1
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2 0x02 long Parameter 2
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3 0x03 ..
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4 0x04 ..
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5 0x05 ..
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6 0x06 long Parameter 3
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7 0x07 ..
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8 0x08 ..
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9 0x09 ..
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10 0x0A long Parameter 4
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11 0x0B ..
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11 0x0C ..
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11 0x0D ..
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***********************************
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Commands below MAV_CMD_NAV_LAST are commands that have a end criteria, eg "reached waypoint" or "reached altitude"
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***********************************
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Command ID Name Parameter 1 Altitude Latitude Longitude
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0x10 / 16 MAV_CMD_NAV_WAYPOINT - altitude lat lon
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0x11 / 17 MAV_CMD_NAV_LOITER_UNLIM (indefinitely) altitude lat lon
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0x12 / 18 MAV_CMD_NAV_LOITER_TURNS turns altitude lat lon
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0x13 / 19 MAV_CMD_NAV_LOITER_TIME time (seconds*10) altitude lat lon
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0x14 / 20 MAV_CMD_NAV_RETURN_TO_LAUNCH - altitude lat lon
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0x15 / 21 MAV_CMD_NAV_LAND - altitude lat lon
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0x16 / 22 MAV_CMD_NAV_TAKEOFF takeoff pitch altitude - -
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NOTE: for command 0x16 the value takeoff pitch specifies the minimum pitch for the case with airspeed sensor and the target pitch for the case without.
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0x17 / 23 MAV_CMD_NAV_TARGET - altitude lat lon
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***********************************
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May Commands - these commands are optional to finish
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Command ID Name Parameter 1 Parameter 2 Parameter 3 Parameter 4
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0x70 / 112 MAV_CMD_CONDITION_DELAY - - time (seconds) -
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0x71 / 113 MAV_CMD_CONDITION_CHANGE_ALT - alt (finish) rate (cm/sec) -
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Note: rate must be > 10 cm/sec due to integer math
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MAV_CMD_NAV_LAND_OPTIONS (NOT CURRENTLY IN MAVLINK PROTOCOL OR IMPLEMENTED IN APM)
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0x72 / 114 MAV_CMD_CONDITION_DISTANCE - - distance (meters) -
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0x71 / 115 MAV_CMD_CONDITION_YAW angle speed direction (-1,1) rel (1), abs (0)
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***********************************
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Unexecuted commands > MAV_CMD_NAV_LAST are dropped when ready for the next command < MAV_CMD_NAV_LAST so plan/queue commands accordingly!
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For example if you had a string of CMD_MAV_CONDITION commands following a 0x10 command that had not finished when the waypoint was
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reached, the unexecuted CMD_MAV_CONDITION and CMD_MAV_DO commands would be skipped and the next command < MAV_CMD_NAV_LAST would be loaded
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***********************************
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Now Commands - these commands are executed once until no more new now commands are available
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Command ID Name Parameter 1 Parameter 2 Parameter 3 Parameter 4
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0xB1 / 177 MAV_CMD_DO_JUMP index - repeat count -
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Note: The repeat count must be greater than 1 for the command to execute. Use a repeat count of 1 if you intend a single use.
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0XB2 / 178 MAV_CMD_DO_CHANGE_SPEED Speed type Speed (m/s) Throttle (Percent) -
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(0=Airspeed, 1=Ground Speed) (-1 indicates no change)(-1 indicates no change)
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0xB3 / 179 MAV_CMD_DO_SET_HOME Use current altitude lat lon
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(1=use current location, 0=use specified location)
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0xB4 / 180 MAV_CMD_DO_SET_PARAMETER Param number Param value (NOT CURRENTLY IMPLEMENTED IN APM)
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0xB5 / 181 MAV_CMD_DO_SET_RELAY Relay number On/off (1/0) - -
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0xB6 / 182 MAV_CMD_DO_REPEAT_RELAY Relay number Cycle count Cycle time (sec) -
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Note: Max cycle time = 60 sec, A repeat relay or repeat servo command will cancel any current repeating event
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0xB7 / 183 MAV_CMD_DO_SET_SERVO Servo number (5-8) On/off (1/0) - -
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0xB6 / 184 MAV_CMD_DO_REPEAT_SERVO Servo number (5-8) Cycle count Cycle time (sec) -
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Note: Max cycle time = 60 sec, A repeat relay or repeat servo command will cancel any current repeating event
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