2010-12-19 12:40:33 -04:00
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ArduPilotMega 1.0.0 Commands
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Command Structure in bytes
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0 0x00 byte Command ID
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1 0x01 byte Parameter 1
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2 0x02 int Parameter 2
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3 0x03 ..
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4 0x04 long Parameter 3
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5 0x05 ..
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6 0x06 ..
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7 0x07 ..
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8 0x08 long Parameter 4
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9 0x09 ..
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10 0x0A ..
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11 0x0B ..
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0x00 Reserved
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....
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0x0F Reserved
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***********************************
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Commands 0x10 to 0x2F are commands that have a end criteria, eg "reached waypoint" or "reached altitude"
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***********************************
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Command ID Name Parameter 1 Altitude Latitude Longitude
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0x10 CMD_WAYPOINT - altitude lat lon
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0x11 CMD_LOITER (indefinitely) - altitude lat lon
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0x12 CMD_LOITER_N_TURNS turns altitude lat lon
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0x13 CMD_LOITER_TIME time (seconds*10) altitude lat lon
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0x14 CMD_RTL - altitude lat lon
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0x15 CMD_LAND - altitude lat lon
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0x16 CMD_TAKEOFF angle altitude - -
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0x17 CMD_ALTITUDE - altitude - -
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0x18 CMD_R_WAYPOINT - altitude rlat rlon
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2010-12-28 21:36:30 -04:00
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0x19 CMD_TARGET - altitude lat lon
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2010-12-19 12:40:33 -04:00
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***********************************
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May Commands - these commands are optional to finish
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Command ID Name Parameter 1 Parameter 2 Parameter 3 Parameter 4
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0x20 CMD_DELAY - - time (milliseconds) -
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0x21 CMD_CLIMB rate (cm/sec) alt (finish) - -
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0x22 CMD_LAND_OPTIONS pitch deg airspeed m/s, throttle %, distance to WP
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0x23 CMD_ANGLE angle speed direction (-1,1) rel (1), abs (0)
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***********************************
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Unexecuted commands >= 0x20 are dropped when ready for the next command <= 0x1F so plan/queue commands accordingly!
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2011-02-21 16:58:10 -04:00
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For example if you had a string of 0x21 commands following a 0x10 command that had not finished when the waypoint was
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2010-12-19 12:40:33 -04:00
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reached, the unexecuted 0x21 commands would be skipped and the next command <= 0x1F would be loaded
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***********************************
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Now Commands - these commands are executed once until no more new now commands are available
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0x31 CMD_RESET_INDEX
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0x32 CMD_GOTO_INDEX index repeat count
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0x33 CMD_GETVAR_INDEX variable ID
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0x34 CMD_SENDVAR_INDEX off/on = 0/1
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0x35 CMD_TELEMETRY off/on = 0/1
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0x40 CMD_THROTTLE_CRUISE speed
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//0x41 CMD_AIRSPEED_CRUISE speed
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0x44 CMD_RESET_HOME altitude lat lon
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2011-02-21 16:58:10 -04:00
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0x60 CMD_KP_GAIN array index gain value*100,000
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0x61 CMD_KI_GAIN array index gain value*100,000
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0x62 CMD_KD_GAIN array index gain value*100,000
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0x63 CMD_KI_MAX array index gain value*100,000
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0x64 CMD_KFF_GAIN array index gain value*100,000
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2010-12-19 12:40:33 -04:00
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0x70 CMD_RADIO_TRIM array index value
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0x71 CMD_RADIO_MAX array index value
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0x72 CMD_RADIO_MIN array index value
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0x73 CMD_ELEVON_TRIM array index value (index 0 = elevon 1 trim, 1 = elevon 2 trim)
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2011-02-21 16:58:10 -04:00
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0x75 CMD_INDEX index
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2010-12-19 12:40:33 -04:00
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0x80 CMD_REPEAT type value delay in sec repeat count
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0x81 CMD_RELAY (0,1 to change swicth position)
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0x82 CMD_SERVO number value
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