mirror of https://github.com/ArduPilot/ardupilot
363 lines
28 KiB
C
363 lines
28 KiB
C
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/** @file
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* @brief MAVLink comm protocol generated from common.xml
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* @see http://qgroundcontrol.org/mavlink/
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*/
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#ifndef COMMON_H
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#define COMMON_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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// MESSAGE LENGTHS AND CRCS
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#ifndef MAVLINK_MESSAGE_LENGTHS
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#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 0, 28, 22, 22, 21, 0, 36, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 0, 0, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 20, 32, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 3}
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#endif
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#ifndef MAVLINK_MESSAGE_CRCS
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#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 197, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 0, 104, 244, 237, 222, 0, 158, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 0, 0, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 160, 168, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 247}
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#endif
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#ifndef MAVLINK_MESSAGE_INFO
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#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {NULL}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SET_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, {NULL}, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {NULL}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {NULL}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {NULL}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND_SHORT, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSA
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#endif
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#include "../protocol.h"
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#define MAVLINK_ENABLED_COMMON
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// MAVLINK VERSION
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#ifndef MAVLINK_VERSION
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#define MAVLINK_VERSION 3
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#endif
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#if (MAVLINK_VERSION == 0)
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#undef MAVLINK_VERSION
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#define MAVLINK_VERSION 3
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#endif
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// ENUM DEFINITIONS
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/** @brief Micro air vehicle / autopilot classes. This identifies the individual model. */
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enum MAV_AUTOPILOT
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{
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MAV_AUTOPILOT_GENERIC=0, /* Generic autopilot, full support for everything | */
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MAV_AUTOPILOT_PIXHAWK=1, /* PIXHAWK autopilot, http://pixhawk.ethz.ch | */
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MAV_AUTOPILOT_SLUGS=2, /* SLUGS autopilot, http://slugsuav.soe.ucsc.edu | */
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MAV_AUTOPILOT_ARDUPILOTMEGA=3, /* ArduPilotMega / ArduCopter, http://diydrones.com | */
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MAV_AUTOPILOT_OPENPILOT=4, /* OpenPilot, http://openpilot.org | */
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MAV_AUTOPILOT_GENERIC_MISSION_MISSIONS_ONLY=5, /* Generic autopilot only supporting simple MISSIONs | */
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MAV_AUTOPILOT_GENERIC_MISSION_NAVIGATION_ONLY=6, /* Generic autopilot supporting MISSIONs and other simple navigation commands | */
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MAV_AUTOPILOT_GENERIC_MISSION_FULL=7, /* Generic autopilot supporting the full mission command set | */
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MAV_AUTOPILOT_INVALID=8, /* No valid autopilot, e.g. a GCS or other MAVLink component | */
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MAV_AUTOPILOT_PPZ=9, /* PPZ UAV - http://nongnu.org/paparazzi | */
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MAV_AUTOPILOT_UDB=10, /* UAV Dev Board | */
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MAV_AUTOPILOT_FP=11, /* FlexiPilot | */
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MAV_AUTOPILOT_ENUM_END=12, /* | */
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};
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/** @brief These flags encode the MAV mode. */
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enum MAV_MODE_FLAG
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{
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MAV_MODE_FLAG_SAFETY_ARMED=128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. | */
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MAV_MODE_FLAG_MANUAL_INPUT_ENABLED=64, /* 0b01000000 remote control input is enabled. | */
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MAV_MODE_FLAG_HIL_ENABLED=32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */
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MAV_MODE_FLAG_STABILIZE_ENABLED=16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */
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MAV_MODE_FLAG_GUIDED_ENABLED=8, /* 0b00001000 guided mode enabled, system flies MISSIONs / mission items. | */
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MAV_MODE_FLAG_AUTO_ENABLED=4, /* 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. | */
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MAV_MODE_FLAG_TEST_ENABLED=2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
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MAV_MODE_FLAG_RESERVED_ENABLED=1, /* 0b00000001 Reserved for future use. | */
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MAV_MODE_FLAG_ENUM_END=129, /* | */
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};
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/** @brief These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not. */
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enum MAV_MODE_FLAG_DECODE_POSITION
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{
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MAV_MODE_FLAG_DECODE_POSITION_SAFETY=128, /* First bit: 10000000 | */
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MAV_MODE_FLAG_DECODE_POSITION_MANUAL=64, /* Second bit: 01000000 | */
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MAV_MODE_FLAG_DECODE_POSITION_HIL=32, /* Third bit: 00100000 | */
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MAV_MODE_FLAG_DECODE_POSITION_STABILIZE=16, /* Fourth bit: 00010000 | */
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MAV_MODE_FLAG_DECODE_POSITION_GUIDED=8, /* Fifth bit: 00001000 | */
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MAV_MODE_FLAG_DECODE_POSITION_AUTO=4, /* Sixt bit: 00000100 | */
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MAV_MODE_FLAG_DECODE_POSITION_TEST=2, /* Seventh bit: 00000010 | */
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MAV_MODE_FLAG_DECODE_POSITION_RESERVED=1, /* Eighth bit: 00000001 | */
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MAV_MODE_FLAG_DECODE_POSITION_ENUM_END=129, /* | */
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};
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/** @brief These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it
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simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override. */
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enum MAV_MODE
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{
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MAV_MODE_PREFLIGHT=0, /* System is not ready to fly, booting, calibrating, etc. No flag is set. | */
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MAV_MODE_STABILIZE_DISARMED=80, /* System is allowed to be active, under assisted RC control. | */
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MAV_MODE_STABILIZE_ARMED=208, /* System is allowed to be active, under assisted RC control. | */
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MAV_MODE_MANUAL_DISARMED=64, /* System is allowed to be active, under manual (RC) control, no stabilization | */
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MAV_MODE_MANUAL_ARMED=192, /* System is allowed to be active, under manual (RC) control, no stabilization | */
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MAV_MODE_GUIDED_DISARMED=88, /* System is allowed to be active, under autonomous control, manual setpoint | */
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MAV_MODE_GUIDED_ARMED=216, /* System is allowed to be active, under autonomous control, manual setpoint | */
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MAV_MODE_AUTO_DISARMED=92, /* System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) | */
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MAV_MODE_AUTO_ARMED=220, /* System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) | */
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MAV_MODE_TEST_DISARMED=66, /* UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. | */
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MAV_MODE_TEST_ARMED=194, /* UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. | */
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MAV_MODE_ENUM_END=221, /* | */
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};
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/** @brief */
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enum MAV_STATE
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{
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MAV_STATE_UNINIT=0, /* Uninitialized system, state is unknown. | */
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MAV_STATE_BOOT=1, /* System is booting up. | */
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MAV_STATE_CALIBRATING=2, /* System is calibrating and not flight-ready. | */
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MAV_STATE_STANDBY=3, /* System is grounded and on standby. It can be launched any time. | */
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MAV_STATE_ACTIVE=4, /* System is active and might be already airborne. Motors are engaged. | */
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MAV_STATE_CRITICAL=5, /* System is in a non-normal flight mode. It can however still navigate. | */
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MAV_STATE_EMERGENCY=6, /* System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down. | */
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MAV_STATE_POWEROFF=7, /* System just initialized its power-down sequence, will shut down now. | */
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MAV_STATE_ENUM_END=8, /* | */
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};
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/** @brief */
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enum MAV_TYPE
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{
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MAV_TYPE_GENERIC=0, /* Generic micro air vehicle. | */
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MAV_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
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MAV_TYPE_QUADROTOR=2, /* Quadrotor | */
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MAV_TYPE_COAXIAL=3, /* Coaxial helicopter | */
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MAV_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */
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MAV_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */
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MAV_TYPE_GCS=6, /* Operator control unit / ground control station | */
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MAV_TYPE_AIRSHIP=7, /* Airship, controlled | */
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MAV_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */
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MAV_TYPE_ROCKET=9, /* Rocket | */
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MAV_TYPE_GROUND_ROVER=10, /* Ground rover | */
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MAV_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */
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MAV_TYPE_SUBMARINE=12, /* Submarine | */
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MAV_TYPE_HEXAROTOR=13, /* Hexarotor | */
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MAV_TYPE_OCTOROTOR=14, /* Octorotor | */
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MAV_TYPE_TRICOPTER=15, /* Octorotor | */
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MAV_TYPE_FLAPPING_WING=16, /* Flapping wing | */
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MAV_TYPE_ENUM_END=17, /* | */
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};
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/** @brief */
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enum MAV_COMPONENT
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{
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MAV_COMP_ID_GPS=220, /* | */
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MAV_COMP_ID_MISSIONPLANNER=190, /* | */
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MAV_COMP_ID_PATHPLANNER=195, /* | */
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MAV_COMP_ID_MAPPER=180, /* | */
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MAV_COMP_ID_CAMERA=100, /* | */
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MAV_COMP_ID_IMU=200, /* | */
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MAV_COMP_ID_IMU_2=201, /* | */
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MAV_COMP_ID_IMU_3=202, /* | */
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MAV_COMP_ID_UDP_BRIDGE=240, /* | */
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MAV_COMP_ID_UART_BRIDGE=241, /* | */
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MAV_COMP_ID_SYSTEM_CONTROL=250, /* | */
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MAV_COMP_ID_SERVO1=140, /* | */
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MAV_COMP_ID_SERVO2=141, /* | */
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MAV_COMP_ID_SERVO3=142, /* | */
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MAV_COMP_ID_SERVO4=143, /* | */
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MAV_COMP_ID_SERVO5=144, /* | */
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MAV_COMP_ID_SERVO6=145, /* | */
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MAV_COMP_ID_SERVO7=146, /* | */
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MAV_COMP_ID_SERVO8=147, /* | */
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MAV_COMP_ID_SERVO9=148, /* | */
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MAV_COMP_ID_SERVO10=149, /* | */
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MAV_COMP_ID_SERVO11=150, /* | */
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MAV_COMP_ID_SERVO12=151, /* | */
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MAV_COMP_ID_SERVO13=152, /* | */
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MAV_COMP_ID_SERVO14=153, /* | */
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MAV_COMPONENT_ENUM_END=251, /* | */
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};
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/** @brief */
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enum MAV_FRAME
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{
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MAV_FRAME_GLOBAL=0, /* Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL) | */
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MAV_FRAME_LOCAL_NED=1, /* Local coordinate frame, Z-up (x: north, y: east, z: down). | */
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MAV_FRAME_MISSION=2, /* NOT a coordinate frame, indicates a mission command. | */
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MAV_FRAME_GLOBAL_RELATIVE_ALT=3, /* Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location. | */
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|
MAV_FRAME_LOCAL_ENU=4, /* Local coordinate frame, Z-down (x: east, y: north, z: up) | */
|
||
|
|
MAV_FRAME_ENUM_END=5, /* | */
|
||
|
|
};
|
||
|
|
|
||
|
|
/** @brief */
|
||
|
|
enum MAVLINK_DATA_STREAM_TYPE
|
||
|
|
{
|
||
|
|
MAVLINK_DATA_STREAM_IMG_JPEG=1, /* | */
|
||
|
|
MAVLINK_DATA_STREAM_IMG_BMP=2, /* | */
|
||
|
|
MAVLINK_DATA_STREAM_IMG_RAW8U=3, /* | */
|
||
|
|
MAVLINK_DATA_STREAM_IMG_RAW32U=4, /* | */
|
||
|
|
MAVLINK_DATA_STREAM_IMG_PGM=5, /* | */
|
||
|
|
MAVLINK_DATA_STREAM_IMG_PNG=6, /* | */
|
||
|
|
MAVLINK_DATA_STREAM_TYPE_ENUM_END=7, /* | */
|
||
|
|
};
|
||
|
|
|
||
|
|
/** @brief Commands to be executed by the MAV. They can be executed on user request,
|
||
|
|
or as part of a mission script. If the action is used in a mission, the parameter mapping
|
||
|
|
to the MISSION/mission message is as follows:
|
||
|
|
Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what
|
||
|
|
ARINC 424 is for commercial aircraft: A data format how to interpret MISSION/mission data. */
|
||
|
|
enum MAV_CMD
|
||
|
|
{
|
||
|
|
MAV_CMD_NAV_MISSION=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */
|
||
|
|
MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
|
||
|
|
MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
|
||
|
|
MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| 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 |Empty| Empty| Empty| Desired yaw angle.| 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| Latitude| Longitude| Altitude| */
|
||
|
|
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 intereset mode. (see MAV_ROI enum)| MISSION 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, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
|
||
|
|
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| */
|
||
|
|
MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||
|
|
MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */
|
||
|
|
MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||
|
|
MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */
|
||
|
|
MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||
|
|
MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| 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)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */
|
||
|
|
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 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 cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */
|
||
|
|
MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| 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 number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| 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 (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
|
||
|
|
MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||
|
|
MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Empty| Empty| Empty| */
|
||
|
|
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| 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_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| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */
|
||
|
|
MAV_CMD_ENUM_END=246, /* | */
|
||
|
|
};
|
||
|
|
|
||
|
|
/** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a
|
||
|
|
recommendation to the autopilot software. Individual autopilots may or may not obey
|
||
|
|
the recommended messages.
|
||
|
|
*/
|
||
|
|
enum MAV_DATA_STREAM
|
||
|
|
{
|
||
|
|
MAV_DATA_STREAM_ALL=0, /* Enable all data streams | */
|
||
|
|
MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. | */
|
||
|
|
MAV_DATA_STREAM_EXTENDED_STATUS=2, /* Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS | */
|
||
|
|
MAV_DATA_STREAM_RC_CHANNELS=3, /* Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW | */
|
||
|
|
MAV_DATA_STREAM_RAW_CONTROLLER=4, /* Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. | */
|
||
|
|
MAV_DATA_STREAM_POSITION=6, /* Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. | */
|
||
|
|
MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot | */
|
||
|
|
MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot | */
|
||
|
|
MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot | */
|
||
|
|
MAV_DATA_STREAM_ENUM_END=13, /* | */
|
||
|
|
};
|
||
|
|
|
||
|
|
/** @brief The ROI (region of interest) for the vehicle. This can be
|
||
|
|
be used by the vehicle for camera/vehicle attitude alignment (see
|
||
|
|
MAV_CMD_NAV_ROI).
|
||
|
|
*/
|
||
|
|
enum MAV_ROI
|
||
|
|
{
|
||
|
|
MAV_ROI_NONE=0, /* No region of interest. | */
|
||
|
|
MAV_ROI_WPNEXT=1, /* Point toward next MISSION. | */
|
||
|
|
MAV_ROI_WPINDEX=2, /* Point toward given MISSION. | */
|
||
|
|
MAV_ROI_LOCATION=3, /* Point toward fixed location. | */
|
||
|
|
MAV_ROI_TARGET=4, /* Point toward of given id. | */
|
||
|
|
MAV_ROI_ENUM_END=5, /* | */
|
||
|
|
};
|
||
|
|
|
||
|
|
/** @brief ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission. */
|
||
|
|
enum MAV_CMD_ACK
|
||
|
|
{
|
||
|
|
MAV_CMD_ACK_OK=1, /* Command / mission item is ok. | */
|
||
|
|
MAV_CMD_ACK_ERR_FAIL=2, /* Generic error message if none of the other reasons fails or if no detailed error reporting is implemented. | */
|
||
|
|
MAV_CMD_ACK_ERR_ACCESS_DENIED=3, /* The system is refusing to accept this command from this source / communication partner. | */
|
||
|
|
MAV_CMD_ACK_ERR_NOT_SUPPORTED=4, /* Command or mission item is not supported, other commands would be accepted. | */
|
||
|
|
MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTED=5, /* The coordinate frame of this command / mission item is not supported. | */
|
||
|
|
MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGE=6, /* The coordinate frame of this command is ok, but he coordinate values exceed the safety limits of this system. This is a generic error, please use the more specific error messages below if possible. | */
|
||
|
|
MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE=7, /* The X or latitude value is out of range. | */
|
||
|
|
MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE=8, /* The Y or longitude value is out of range. | */
|
||
|
|
MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE=9, /* The Z or altitude value is out of range. | */
|
||
|
|
MAV_CMD_ACK_ENUM_END=10, /* | */
|
||
|
|
};
|
||
|
|
|
||
|
|
// MESSAGE DEFINITIONS
|
||
|
|
#include "./mavlink_msg_heartbeat.h"
|
||
|
|
#include "./mavlink_msg_sys_status.h"
|
||
|
|
#include "./mavlink_msg_system_time.h"
|
||
|
|
#include "./mavlink_msg_ping.h"
|
||
|
|
#include "./mavlink_msg_change_operator_control.h"
|
||
|
|
#include "./mavlink_msg_change_operator_control_ack.h"
|
||
|
|
#include "./mavlink_msg_auth_key.h"
|
||
|
|
#include "./mavlink_msg_set_mode.h"
|
||
|
|
#include "./mavlink_msg_param_request_read.h"
|
||
|
|
#include "./mavlink_msg_param_request_list.h"
|
||
|
|
#include "./mavlink_msg_param_value.h"
|
||
|
|
#include "./mavlink_msg_param_set.h"
|
||
|
|
#include "./mavlink_msg_gps_raw_int.h"
|
||
|
|
#include "./mavlink_msg_gps_status.h"
|
||
|
|
#include "./mavlink_msg_scaled_imu.h"
|
||
|
|
#include "./mavlink_msg_raw_imu.h"
|
||
|
|
#include "./mavlink_msg_raw_pressure.h"
|
||
|
|
#include "./mavlink_msg_scaled_pressure.h"
|
||
|
|
#include "./mavlink_msg_attitude.h"
|
||
|
|
#include "./mavlink_msg_attitude_quaternion.h"
|
||
|
|
#include "./mavlink_msg_local_position_ned.h"
|
||
|
|
#include "./mavlink_msg_global_position_int.h"
|
||
|
|
#include "./mavlink_msg_rc_channels_raw.h"
|
||
|
|
#include "./mavlink_msg_rc_channels_scaled.h"
|
||
|
|
#include "./mavlink_msg_servo_output_raw.h"
|
||
|
|
#include "./mavlink_msg_mission_item.h"
|
||
|
|
#include "./mavlink_msg_mission_request.h"
|
||
|
|
#include "./mavlink_msg_mission_set_current.h"
|
||
|
|
#include "./mavlink_msg_mission_current.h"
|
||
|
|
#include "./mavlink_msg_mission_request_list.h"
|
||
|
|
#include "./mavlink_msg_mission_count.h"
|
||
|
|
#include "./mavlink_msg_mission_clear_all.h"
|
||
|
|
#include "./mavlink_msg_mission_item_reached.h"
|
||
|
|
#include "./mavlink_msg_mission_ack.h"
|
||
|
|
#include "./mavlink_msg_set_gps_global_origin.h"
|
||
|
|
#include "./mavlink_msg_gps_global_origin.h"
|
||
|
|
#include "./mavlink_msg_set_local_position_setpoint.h"
|
||
|
|
#include "./mavlink_msg_local_position_setpoint.h"
|
||
|
|
#include "./mavlink_msg_global_position_setpoint_int.h"
|
||
|
|
#include "./mavlink_msg_set_global_position_setpoint_int.h"
|
||
|
|
#include "./mavlink_msg_safety_set_allowed_area.h"
|
||
|
|
#include "./mavlink_msg_safety_allowed_area.h"
|
||
|
|
#include "./mavlink_msg_set_roll_pitch_yaw_thrust.h"
|
||
|
|
#include "./mavlink_msg_set_roll_pitch_yaw_speed_thrust.h"
|
||
|
|
#include "./mavlink_msg_roll_pitch_yaw_thrust_setpoint.h"
|
||
|
|
#include "./mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h"
|
||
|
|
#include "./mavlink_msg_nav_controller_output.h"
|
||
|
|
#include "./mavlink_msg_state_correction.h"
|
||
|
|
#include "./mavlink_msg_request_data_stream.h"
|
||
|
|
#include "./mavlink_msg_data_stream.h"
|
||
|
|
#include "./mavlink_msg_manual_control.h"
|
||
|
|
#include "./mavlink_msg_rc_channels_override.h"
|
||
|
|
#include "./mavlink_msg_vfr_hud.h"
|
||
|
|
#include "./mavlink_msg_command_short.h"
|
||
|
|
#include "./mavlink_msg_command_long.h"
|
||
|
|
#include "./mavlink_msg_command_ack.h"
|
||
|
|
#include "./mavlink_msg_hil_state.h"
|
||
|
|
#include "./mavlink_msg_hil_controls.h"
|
||
|
|
#include "./mavlink_msg_hil_rc_inputs_raw.h"
|
||
|
|
#include "./mavlink_msg_optical_flow.h"
|
||
|
|
#include "./mavlink_msg_memory_vect.h"
|
||
|
|
#include "./mavlink_msg_debug_vect.h"
|
||
|
|
#include "./mavlink_msg_named_value_float.h"
|
||
|
|
#include "./mavlink_msg_named_value_int.h"
|
||
|
|
#include "./mavlink_msg_statustext.h"
|
||
|
|
#include "./mavlink_msg_debug.h"
|
||
|
|
#include "./mavlink_msg_extended_message.h"
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif // __cplusplus
|
||
|
|
#endif // COMMON_H
|