/** @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 waypoint/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 waypoint/mission data. */
MAV_CMD_NAV_WAYPOINT=16,/* Navigate to waypoint. | Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing) | Acceptance radius in meters (if the sphere with this radius is hit, the waypoint 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 waypoint (rotary wing) | Latitude | Longitude | Altitude | */
MAV_CMD_NAV_LOITER_UNLIM=17,/* Loiter around this waypoint an unlimited amount of time | Empty | Empty | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise | Desired yaw angle. | Latitude | Longitude | Altitude | */
MAV_CMD_NAV_LOITER_TURNS=18,/* Loiter around this waypoint for X turns | Turns | Empty | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise | Desired yaw angle. | Latitude | Longitude | Altitude | */
MAV_CMD_NAV_LOITER_TIME=19,/* Loiter around this waypoint for X seconds | Seconds (decimal) | Empty | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise | Desired yaw angle. | Latitude | Longitude | Altitude | */
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) | Waypoint 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_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 capturing. | 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_SET_ROI=201,/* 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 devices such as cameras. | Region of interest mode. (see MAV_ROI enum) | Waypoint index/ target ID. (see MAV_ROI enum) | ROI index (allows a vehicle to manage multiple cameras etc.) | Empty | x the location of the fixed ROI (see MAV_FRAME) | y | z | */
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_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 | */
/** @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. */
/** @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). */
