mirror of https://github.com/ArduPilot/ardupilot
80 lines
2.9 KiB
Plaintext
80 lines
2.9 KiB
Plaintext
|
ArduPilotMega 1.0.0 Commands
|
||
|
|
|
||
|
|
Command Structure in bytes
|
||
|
|
0 0x00 byte Command ID
|
||
|
|
1 0x01 byte Parameter 1
|
||
|
|
2 0x02 int Parameter 2
|
||
|
|
3 0x03 ..
|
||
|
|
4 0x04 long Parameter 3
|
||
|
|
5 0x05 ..
|
||
|
|
6 0x06 ..
|
||
|
|
7 0x07 ..
|
||
|
|
8 0x08 long Parameter 4
|
||
|
|
9 0x09 ..
|
||
|
|
10 0x0A ..
|
||
|
|
11 0x0B ..
|
||
|
|
|
||
|
|
0x00 Reserved
|
||
|
|
....
|
||
|
|
0x0F Reserved
|
||
|
|
|
||
|
|
***********************************
|
||
|
|
Commands 0x10 to 0x2F are commands that have a end criteria, eg "reached waypoint" or "reached altitude"
|
||
|
|
***********************************
|
||
|
|
Command ID Name Parameter 1 Altitude Latitude Longitude
|
||
|
|
0x10 CMD_WAYPOINT - altitude lat lon
|
||
|
|
0x11 CMD_LOITER (indefinitely) - altitude lat lon
|
||
|
|
0x12 CMD_LOITER_N_TURNS turns altitude lat lon
|
||
|
|
0x13 CMD_LOITER_TIME time (seconds*10) altitude lat lon
|
||
|
|
0x14 CMD_RTL - altitude lat lon
|
||
|
|
0x15 CMD_LAND - altitude lat lon
|
||
|
|
0x16 CMD_TAKEOFF angle altitude - -
|
||
|
|
0x17 CMD_ALTITUDE - altitude - -
|
||
|
|
0x18 CMD_R_WAYPOINT - altitude rlat rlon
|
||
|
|
|
||
|
|
|
||
|
|
***********************************
|
||
|
|
May Commands - these commands are optional to finish
|
||
|
|
Command ID Name Parameter 1 Parameter 2 Parameter 3 Parameter 4
|
||
|
|
0x20 CMD_DELAY - - time (milliseconds) -
|
||
|
|
0x21 CMD_CLIMB rate (cm/sec) alt (finish) - -
|
||
|
|
0x22 CMD_LAND_OPTIONS pitch deg airspeed m/s, throttle %, distance to WP
|
||
|
|
0x23 CMD_ANGLE angle speed direction (-1,1) rel (1), abs (0)
|
||
|
|
|
||
|
|
|
||
|
|
***********************************
|
||
|
|
Unexecuted commands >= 0x20 are dropped when ready for the next command <= 0x1F so plan/queue commands accordingly!
|
||
|
|
For example if you had a string of 0x21 commands following a 0x10 command that had not finished when the waypoint was
|
||
|
|
reached, the unexecuted 0x21 commands would be skipped and the next command <= 0x1F would be loaded
|
||
|
|
***********************************
|
||
|
|
Now Commands - these commands are executed once until no more new now commands are available
|
||
|
|
0x31 CMD_RESET_INDEX
|
||
|
|
0x32 CMD_GOTO_INDEX index repeat count
|
||
|
|
0x33 CMD_GETVAR_INDEX variable ID
|
||
|
|
0x34 CMD_SENDVAR_INDEX off/on = 0/1
|
||
|
|
0x35 CMD_TELEMETRY off/on = 0/1
|
||
|
|
|
||
|
|
0x40 CMD_THROTTLE_CRUISE speed
|
||
|
|
//0x41 CMD_AIRSPEED_CRUISE speed
|
||
|
|
0x44 CMD_RESET_HOME altitude lat lon
|
||
|
|
|
||
|
|
0x60 CMD_KP_GAIN array index gain value*100,000
|
||
|
|
0x61 CMD_KI_GAIN array index gain value*100,000
|
||
|
|
0x62 CMD_KD_GAIN array index gain value*100,000
|
||
|
|
0x63 CMD_KI_MAX array index gain value*100,000
|
||
|
|
0x64 CMD_KFF_GAIN array index gain value*100,000
|
||
|
|
|
||
|
|
0x70 CMD_RADIO_TRIM array index value
|
||
|
|
0x71 CMD_RADIO_MAX array index value
|
||
|
|
0x72 CMD_RADIO_MIN array index value
|
||
|
|
0x73 CMD_ELEVON_TRIM array index value (index 0 = elevon 1 trim, 1 = elevon 2 trim)
|
||
|
|
0x75 CMD_INDEX index
|
||
|
|
|
||
|
|
0x80 CMD_REPEAT type value delay in sec repeat count
|
||
|
|
0x81 CMD_RELAY (0,1 to change swicth position)
|
||
|
|
0x82 CMD_SERVO number value
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|