mirror of https://github.com/ArduPilot/ardupilot
84 lines
3.7 KiB
XML
84 lines
3.7 KiB
XML
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<?xml version='1.0'?>
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<mavlink>
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<include>common.xml</include>
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<enums>
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<enum name="SENSESOAR_MODE">
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<description> Different flight modes </description>
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<entry name="SENSESOAR_MODE_GLIDING"> Gliding mode with motors off</entry>
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<entry name="SENSESOAR_MODE_AUTONOMOUS"> Autonomous flight</entry>
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<entry name="SENSESOAR_MODE_MANUAL"> RC controlled</entry>
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</enum>
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</enums>
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<messages>
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<message id="170" name="OBS_POSITION">
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Position estimate of the observer in global frame
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<field type="int32_t" name="lon">Longitude expressed in 1E7</field>
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<field type="int32_t" name="lat">Latitude expressed in 1E7</field>
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<field type="int32_t" name="alt">Altitude expressed in milimeters</field>
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</message>
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<message id="172" name="OBS_VELOCITY">
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velocity estimate of the observer in NED inertial frame
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<field type="float[3]" name="vel">Velocity</field>
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</message>
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<message id="174" name="OBS_ATTITUDE">
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attitude estimate of the observer
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<field type="double[4]" name="quat">Quaternion re;im</field>
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</message>
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<message id="176" name="OBS_WIND">
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Wind estimate in NED inertial frame
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<field type="float[3]" name="wind">Wind</field>
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</message>
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<message id="178" name="OBS_AIR_VELOCITY">
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Estimate of the air velocity
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<field type="float" name="magnitude">Air speed</field>
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<field type="float" name="aoa">angle of attack</field>
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<field type="float" name="slip">slip angle</field>
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</message>
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<message id="180" name="OBS_BIAS">
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IMU biases
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<field type="float[3]" name="accBias">accelerometer bias</field>
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<field type="float[3]" name="gyroBias">gyroscope bias</field>
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</message>
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<message id="182" name="OBS_QFF">
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estimate of the pressure at sea level
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<field type="float" name="qff">Wind</field>
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</message>
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<message id="183" name="OBS_AIR_TEMP">
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ambient air temperature
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<field type="float" name="airT">Air Temperatur</field>
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</message>
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<message id="184" name="FILT_ROT_VEL">
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filtered rotational velocity
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<field type="float[3]" name="rotVel">rotational velocity</field>
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</message>
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<message id="186" name="LLC_OUT">
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low level control output
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<field type="int16_t[4]" name="servoOut">Servo signal</field>
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<field type="int16_t[2]" name="MotorOut">motor signal</field>
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</message>
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<message id="188" name="PM_ELEC">
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Power managment
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<field type="float" name="PwCons">current power consumption</field>
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<field type="float" name="BatStat">battery status</field>
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<field type="float[3]" name="PwGen">Power generation from each module</field>
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</message>
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<message id="190" name="SYS_Stat">
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system status
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<field type="uint8_t" name="gps">gps status</field>
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<field type="uint8_t" name="act">actuator status</field>
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<field type="uint8_t" name="mod">module status</field>
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<field type="uint8_t" name="commRssi">module status</field>
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</message>
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<message id="192" name="CMD_AIRSPEED_CHNG">
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change commanded air speed
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<field type="uint8_t" name="target">Target ID</field>
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<field type="float" name="spCmd">commanded airspeed</field>
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</message>
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<message id="194" name="CMD_AIRSPEED_ACK">
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accept change of airspeed
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<field type="float" name="spCmd">commanded airspeed</field>
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<field type="uint8_t" name="ack">0:ack, 1:nack</field>
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</message>
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</messages>
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</mavlink>
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