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<?xml version='1.0'?>
<mavlink >
<include > common.xml</include>
<!-- note that APM specific messages should use the command id
range from 150 to 250, to leave plenty of room for growth
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of common.xml
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If you prototype a message here, then you should consider if it
is general enough to move into common.xml later
-->
<enums >
<!-- Camera Mount mode Enumeration -->
<enum name= "MAV_MOUNT_MODE" >
<description > Enumeration of possible mount operation modes</description>
<entry name= "MAV_MOUNT_MODE_RETRACT" value= "0" > <description > Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization</description> </entry>
<entry name= "MAV_MOUNT_MODE_NEUTRAL" value= "1" > <description > Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM.</description> </entry>
<entry name= "MAV_MOUNT_MODE_MAVLINK_TARGETING" value= "2" > <description > Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization</description> </entry>
<entry name= "MAV_MOUNT_MODE_RC_TARGETING" value= "3" > <description > Load neutral position and start RC Roll,Pitch,Yaw control with stabilization</description> </entry>
<entry name= "MAV_MOUNT_MODE_GPS_POINT" value= "4" > <description > Load neutral position and start to point to Lat,Lon,Alt</description> </entry>
</enum>
<enum name= "MAV_CMD" >
<!-- Camera Controller Mission Commands Enumeration -->
<entry name= "MAV_CMD_DO_DIGICAM_CONFIGURE" value= "202" >
<description > Mission command to configure an on-board camera controller system.</description>
<param index= "1" > Modes: P, TV, AV, M, Etc</param>
<param index= "2" > Shutter speed: Divisor number for one second</param>
<param index= "3" > Aperture: F stop number</param>
<param index= "4" > ISO number e.g. 80, 100, 200, Etc</param>
<param index= "5" > Exposure type enumerator</param>
<param index= "6" > Command Identity</param>
<param index= "7" > Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)</param>
</entry>
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<entry name= "MAV_CMD_DO_DIGICAM_CONTROL" value= "203" >
<description > Mission command to control an on-board camera controller system.</description>
<param index= "1" > Session control e.g. show/hide lens</param>
<param index= "2" > Zoom's absolute position</param>
<param index= "3" > Zooming step value to offset zoom from the current position</param>
<param index= "4" > Focus Locking, Unlocking or Re-locking</param>
<param index= "5" > Shooting Command</param>
<param index= "6" > Command Identity</param>
<param index= "7" > Empty</param>
</entry>
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<!-- Camera Mount Mission Commands Enumeration -->
<entry name= "MAV_CMD_DO_MOUNT_CONFIGURE" value= "204" >
<description > Mission command to configure a camera or antenna mount</description>
<param index= "1" > Mount operation mode (see MAV_MOUNT_MODE enum)</param>
<param index= "2" > stabilize roll? (1 = yes, 0 = no)</param>
<param index= "3" > stabilize pitch? (1 = yes, 0 = no)</param>
<param index= "4" > stabilize yaw? (1 = yes, 0 = no)</param>
<param index= "5" > Empty</param>
<param index= "6" > Empty</param>
<param index= "7" > Empty</param>
</entry>
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<entry name= "MAV_CMD_DO_MOUNT_CONTROL" value= "205" >
<description > Mission command to control a camera or antenna mount</description>
<param index= "1" > pitch(deg*100) or lat, depending on mount mode.</param>
<param index= "2" > roll(deg*100) or lon depending on mount mode</param>
<param index= "3" > yaw(deg*100) or alt (in cm) depending on mount mode</param>
<param index= "4" > Empty</param>
<param index= "5" > Empty</param>
<param index= "6" > Empty</param>
<param index= "7" > Empty</param>
</entry>
</enum>
<!-- fenced mode enums -->
<enum name= "FENCE_ACTION" >
<entry name= "FENCE_ACTION_NONE" value= "0" >
<description > Disable fenced mode</description>
</entry>
<entry name= "FENCE_ACTION_GUIDED" value= "1" >
<description > Switched to guided mode to return point (fence point 0)</description>
</entry>
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<entry name= "FENCE_ACTION_REPORT" value= "2" >
<description > Report fence breach, but don't take action</description>
</entry>
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</enum>
<enum name= "FENCE_BREACH" >
<entry name= "FENCE_BREACH_NONE" value= "0" >
<description > No last fence breach</description>
</entry>
<entry name= "FENCE_BREACH_MINALT" value= "1" >
<description > Breached minimum altitude</description>
</entry>
<entry name= "FENCE_BREACH_MAXALT" value= "2" >
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<description > Breached maximum altitude</description>
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</entry>
<entry name= "FENCE_BREACH_BOUNDARY" value= "3" >
<description > Breached fence boundary</description>
</entry>
</enum>
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<!-- AP_Limits Enums -->
<enum name= "LIMITS_STATE" >
<entry name= "LIMITS_INIT" value= "0" > <description > pre-initialization</description> </entry>
<entry name= "LIMITS_DISABLED" value= "1" > <description > disabled</description> </entry>
<entry name= "LIMITS_ENABLED" value= "2" > <description > checking limits</description> </entry>
<entry name= "LIMITS_TRIGGERED" value= "3" > <description > a limit has been breached</description> </entry>
<entry name= "LIMITS_RECOVERING" value= "4" > <description > taking action eg. RTL</description> </entry>
<entry name= "LIMITS_RECOVERED" value= "5" > <description > we're no longer in breach of a limit</description> </entry>
</enum>
<!-- AP_Limits Modules - power of 2 (1,2,4,8,16,32 etc) so we can send as bitfield -->
<enum name= "LIMIT_MODULE" >
<entry name= "LIMIT_GPSLOCK" value= "1" > <description > pre-initialization</description> </entry>
<entry name= "LIMIT_GEOFENCE" value= "2" > <description > disabled</description> </entry>
<entry name= "LIMIT_ALTITUDE" value= "4" > <description > checking limits</description> </entry>
</enum>
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</enums>
<messages >
<message id= "150" name= "SENSOR_OFFSETS" >
<description > Offsets and calibrations values for hardware
sensors. This makes it easier to debug the calibration process.</description>
<field type= "int16_t" name= "mag_ofs_x" > magnetometer X offset</field>
<field type= "int16_t" name= "mag_ofs_y" > magnetometer Y offset</field>
<field type= "int16_t" name= "mag_ofs_z" > magnetometer Z offset</field>
<field type= "float" name= "mag_declination" > magnetic declination (radians)</field>
<field type= "int32_t" name= "raw_press" > raw pressure from barometer</field>
<field type= "int32_t" name= "raw_temp" > raw temperature from barometer</field>
<field type= "float" name= "gyro_cal_x" > gyro X calibration</field>
<field type= "float" name= "gyro_cal_y" > gyro Y calibration</field>
<field type= "float" name= "gyro_cal_z" > gyro Z calibration</field>
<field type= "float" name= "accel_cal_x" > accel X calibration</field>
<field type= "float" name= "accel_cal_y" > accel Y calibration</field>
<field type= "float" name= "accel_cal_z" > accel Z calibration</field>
</message>
<message id= "151" name= "SET_MAG_OFFSETS" >
<description > set the magnetometer offsets</description>
<field type= "uint8_t" name= "target_system" > System ID</field>
<field type= "uint8_t" name= "target_component" > Component ID</field>
<field type= "int16_t" name= "mag_ofs_x" > magnetometer X offset</field>
<field type= "int16_t" name= "mag_ofs_y" > magnetometer Y offset</field>
<field type= "int16_t" name= "mag_ofs_z" > magnetometer Z offset</field>
</message>
<message id= "152" name= "MEMINFO" >
<description > state of APM memory</description>
<field type= "uint16_t" name= "brkval" > heap top</field>
<field type= "uint16_t" name= "freemem" > free memory</field>
</message>
<message id= "153" name= "AP_ADC" >
<description > raw ADC output</description>
<field type= "uint16_t" name= "adc1" > ADC output 1</field>
<field type= "uint16_t" name= "adc2" > ADC output 2</field>
<field type= "uint16_t" name= "adc3" > ADC output 3</field>
<field type= "uint16_t" name= "adc4" > ADC output 4</field>
<field type= "uint16_t" name= "adc5" > ADC output 5</field>
<field type= "uint16_t" name= "adc6" > ADC output 6</field>
</message>
<!-- Camera Controller Messages -->
<message name= "DIGICAM_CONFIGURE" id= "154" >
<description > Configure on-board Camera Control System.</description>
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<field name= "target_system" type= "uint8_t" > System ID</field>
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<field name= "target_component" type= "uint8_t" > Component ID</field>
<field name= "mode" type= "uint8_t" > Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)</field>
<field name= "shutter_speed" type= "uint16_t" > Divisor number //e.g. 1000 means 1/1000 (0 means ignore)</field>
<field name= "aperture" type= "uint8_t" > F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)</field>
<field name= "iso" type= "uint8_t" > ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)</field>
<field name= "exposure_type" type= "uint8_t" > Exposure type enumeration from 1 to N (0 means ignore)</field>
<field name= "command_id" type= "uint8_t" > Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once</field>
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<field name= "engine_cut_off" type= "uint8_t" > Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)</field>
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<field name= "extra_param" type= "uint8_t" > Extra parameters enumeration (0 means ignore)</field>
<field name= "extra_value" type= "float" > Correspondent value to given extra_param</field>
</message>
<message name= "DIGICAM_CONTROL" id= "155" >
<description > Control on-board Camera Control System to take shots.</description>
<field name= "target_system" type= "uint8_t" > System ID</field>
<field name= "target_component" type= "uint8_t" > Component ID</field>
<field name= "session" type= "uint8_t" > 0: stop, 1: start or keep it up //Session control e.g. show/hide lens</field>
<field name= "zoom_pos" type= "uint8_t" > 1 to N //Zoom's absolute position (0 means ignore)</field>
<field name= "zoom_step" type= "int8_t" > -100 to 100 //Zooming step value to offset zoom from the current position</field>
<field name= "focus_lock" type= "uint8_t" > 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus</field>
<field name= "shot" type= "uint8_t" > 0: ignore, 1: shot or start filming</field>
<field name= "command_id" type= "uint8_t" > Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once</field>
<field name= "extra_param" type= "uint8_t" > Extra parameters enumeration (0 means ignore)</field>
<field name= "extra_value" type= "float" > Correspondent value to given extra_param</field>
</message>
<!-- Camera Mount Messages -->
<message name= "MOUNT_CONFIGURE" id= "156" >
<description > Message to configure a camera mount, directional antenna, etc.</description>
<field name= "target_system" type= "uint8_t" > System ID</field>
<field name= "target_component" type= "uint8_t" > Component ID</field>
<field name= "mount_mode" type= "uint8_t" > mount operating mode (see MAV_MOUNT_MODE enum)</field>
<field name= "stab_roll" type= "uint8_t" > (1 = yes, 0 = no)</field>
<field name= "stab_pitch" type= "uint8_t" > (1 = yes, 0 = no)</field>
<field name= "stab_yaw" type= "uint8_t" > (1 = yes, 0 = no)</field>
</message>
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<message name= "MOUNT_CONTROL" id= "157" >
<description > Message to control a camera mount, directional antenna, etc.</description>
<field name= "target_system" type= "uint8_t" > System ID</field>
<field name= "target_component" type= "uint8_t" > Component ID</field>
<field name= "input_a" type= "int32_t" > pitch(deg*100) or lat, depending on mount mode</field>
<field name= "input_b" type= "int32_t" > roll(deg*100) or lon depending on mount mode</field>
<field name= "input_c" type= "int32_t" > yaw(deg*100) or alt (in cm) depending on mount mode</field>
<field name= "save_position" type= "uint8_t" > if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)</field>
</message>
<message name= "MOUNT_STATUS" id= "158" >
<description > Message with some status from APM to GCS about camera or antenna mount</description>
<field name= "target_system" type= "uint8_t" > System ID</field>
<field name= "target_component" type= "uint8_t" > Component ID</field>
<field name= "pointing_a" type= "int32_t" > pitch(deg*100) or lat, depending on mount mode</field>
<field name= "pointing_b" type= "int32_t" > roll(deg*100) or lon depending on mount mode</field>
<field name= "pointing_c" type= "int32_t" > yaw(deg*100) or alt (in cm) depending on mount mode</field>
</message>
<!-- geo - fence messages -->
<message name= "FENCE_POINT" id= "160" >
<description > A fence point. Used to set a point when from
GCS -> MAV. Also used to return a point from MAV -> GCS</description>
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<field name= "target_system" type= "uint8_t" > System ID</field>
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<field name= "target_component" type= "uint8_t" > Component ID</field>
<field name= "idx" type= "uint8_t" > point index (first point is 1, 0 is for return point)</field>
<field name= "count" type= "uint8_t" > total number of points (for sanity checking)</field>
<field name= "lat" type= "float" > Latitude of point</field>
<field name= "lng" type= "float" > Longitude of point</field>
</message>
<message name= "FENCE_FETCH_POINT" id= "161" >
<description > Request a current fence point from MAV</description>
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<field name= "target_system" type= "uint8_t" > System ID</field>
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<field name= "target_component" type= "uint8_t" > Component ID</field>
<field name= "idx" type= "uint8_t" > point index (first point is 1, 0 is for return point)</field>
</message>
<message name= "FENCE_STATUS" id= "162" >
<description > Status of geo-fencing. Sent in extended
status stream when fencing enabled</description>
<field name= "breach_status" type= "uint8_t" > 0 if currently inside fence, 1 if outside</field>
<field name= "breach_count" type= "uint16_t" > number of fence breaches</field>
<field name= "breach_type" type= "uint8_t" > last breach type (see FENCE_BREACH_* enum)</field>
<field name= "breach_time" type= "uint32_t" > time of last breach in milliseconds since boot</field>
</message>
<message name= "AHRS" id= "163" >
<description > Status of DCM attitude estimator</description>
<field type= "float" name= "omegaIx" > X gyro drift estimate rad/s</field>
<field type= "float" name= "omegaIy" > Y gyro drift estimate rad/s</field>
<field type= "float" name= "omegaIz" > Z gyro drift estimate rad/s</field>
<field type= "float" name= "accel_weight" > average accel_weight</field>
<field type= "float" name= "renorm_val" > average renormalisation value</field>
<field type= "float" name= "error_rp" > average error_roll_pitch value</field>
<field type= "float" name= "error_yaw" > average error_yaw value</field>
</message>
<message name= "SIMSTATE" id= "164" >
<description > Status of simulation environment, if used</description>
<field type= "float" name= "roll" > Roll angle (rad)</field>
<field type= "float" name= "pitch" > Pitch angle (rad)</field>
<field type= "float" name= "yaw" > Yaw angle (rad)</field>
<field type= "float" name= "xacc" > X acceleration m/s/s</field>
<field type= "float" name= "yacc" > Y acceleration m/s/s</field>
<field type= "float" name= "zacc" > Z acceleration m/s/s</field>
<field type= "float" name= "xgyro" > Angular speed around X axis rad/s</field>
<field type= "float" name= "ygyro" > Angular speed around Y axis rad/s</field>
<field type= "float" name= "zgyro" > Angular speed around Z axis rad/s</field>
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<field type= "float" name= "lat" > Latitude in degrees</field>
<field type= "float" name= "lng" > Longitude in degrees</field>
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</message>
<message name= "HWSTATUS" id= "165" >
<description > Status of key hardware</description>
<field type= "uint16_t" name= "Vcc" > board voltage (mV)</field>
<field type= "uint8_t" name= "I2Cerr" > I2C error count</field>
</message>
<message name= "RADIO" id= "166" >
<description > Status generated by radio</description>
<field type= "uint8_t" name= "rssi" > local signal strength</field>
<field type= "uint8_t" name= "remrssi" > remote signal strength</field>
<field type= "uint8_t" name= "txbuf" > how full the tx buffer is as a percentage</field>
<field type= "uint8_t" name= "noise" > background noise level</field>
<field type= "uint8_t" name= "remnoise" > remote background noise level</field>
<field type= "uint16_t" name= "rxerrors" > receive errors</field>
<field type= "uint16_t" name= "fixed" > count of error corrected packets</field>
</message>
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<!-- AP_Limits status -->
<message name= "LIMITS_STATUS" id= "167" >
<description > Status of AP_Limits. Sent in extended
status stream when AP_Limits is enabled</description>
<field name= "limits_state" type= "uint8_t" > state of AP_Limits, (see enum LimitState, LIMITS_STATE)</field>
<field name= "last_trigger" type= "uint32_t" > time of last breach in milliseconds since boot</field>
<field name= "last_action" type= "uint32_t" > time of last recovery action in milliseconds since boot</field>
<field name= "last_recovery" type= "uint32_t" > time of last successful recovery in milliseconds since boot</field>
<field name= "last_clear" type= "uint32_t" > time of last all-clear in milliseconds since boot</field>
<field name= "breach_count" type= "uint16_t" > number of fence breaches</field>
<field name= "mods_enabled" type= "uint8_t" > AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)</field>
<field name= "mods_required" type= "uint8_t" > AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)</field>
<field name= "mods_triggered" type= "uint8_t" > AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)</field>
</message>
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<message name= "WIND" id= "168" >
<description > Wind estimation</description>
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<field type= "float" name= "direction" > wind direction that wind is coming from (degrees)</field>
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<field type= "float" name= "speed" > wind speed in ground plane (m/s)</field>
<field type= "float" name= "speed_z" > vertical wind speed (m/s)</field>
</message>
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<message name= "DATA16" id= "169" >
<description > Data packet, size 16</description>
<field type= "uint8_t" name= "type" > data type</field>
<field type= "uint8_t" name= "len" > data length</field>
<field type= "uint8_t[16]" name= "data" > raw data</field>
</message>
<message name= "DATA32" id= "170" >
<description > Data packet, size 32</description>
<field type= "uint8_t" name= "type" > data type</field>
<field type= "uint8_t" name= "len" > data length</field>
<field type= "uint8_t[32]" name= "data" > raw data</field>
</message>
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<message name= "DATA64" id= "171" >
<description > Data packet, size 64</description>
<field type= "uint8_t" name= "type" > data type</field>
<field type= "uint8_t" name= "len" > data length</field>
<field type= "uint8_t[64]" name= "data" > raw data</field>
</message>
<message name= "DATA96" id= "172" >
<description > Data packet, size 96</description>
<field type= "uint8_t" name= "type" > data type</field>
<field type= "uint8_t" name= "len" > data length</field>
<field type= "uint8_t[96]" name= "data" > raw data</field>
</message>
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<message name= "RANGEFINDER" id= "173" >
<description > Rangefinder reporting</description>
<field type= "float" name= "distance" > distance in meters</field>
<field type= "float" name= "voltage" > raw voltage if available, zero otherwise</field>
</message>
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</messages>
</mavlink>
