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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>
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<entry name= "MAV_CMD_DO_SET_CAM_TRIGG_DIST" value= "206" >
<description > Mission command to set CAM_TRIGG_DIST for this flight</description>
<param index= "1" > Camera trigger distance (meters)</param>
<param index= "2" > Empty</param>
<param index= "3" > Empty</param>
<param index= "4" > Empty</param>
<param index= "5" > Empty</param>
<param index= "6" > Empty</param>
<param index= "7" > Empty</param>
</entry>
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</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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<entry name= "FENCE_ACTION_GUIDED_THR_PASS" value= "3" >
<description > Switched to guided mode to return point (fence point 0) with manual throttle control</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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<!-- RALLY flags - power of 2 (1,2,4,8,16,32,64,128) so we can send as a bitfield -->
<enum name= "RALLY_FLAGS" >
<description > Flags in RALLY_POINT message</description>
<entry name= "FAVORABLE_WIND" value= "1" > <description > Flag set when requiring favorable winds for landing. </description> </entry>
<entry name= "LAND_IMMEDIATELY" value= "2" > <description > Flag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land.</description> </entry>
</enum>
</enums>
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<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= "int32_t" name= "lat" > Latitude in degrees * 1E7</field>
<field type= "int32_t" name= "lng" > Longitude in degrees * 1E7</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>
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<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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<message name= "AIRSPEED_AUTOCAL" id= "174" >
<description > Airspeed auto-calibration</description>
<field type= "float" name= "vx" > GPS velocity north m/s</field>
<field type= "float" name= "vy" > GPS velocity east m/s</field>
<field type= "float" name= "vz" > GPS velocity down m/s</field>
<field type= "float" name= "diff_pressure" > Differential pressure pascals</field>
<field type= "float" name= "EAS2TAS" > Estimated to true airspeed ratio</field>
<field type= "float" name= "ratio" > Airspeed ratio</field>
<field type= "float" name= "state_x" > EKF state x</field>
<field type= "float" name= "state_y" > EKF state y</field>
<field type= "float" name= "state_z" > EKF state z</field>
<field type= "float" name= "Pax" > EKF Pax</field>
<field type= "float" name= "Pby" > EKF Pby</field>
<field type= "float" name= "Pcz" > EKF Pcz</field>
</message>
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<!-- rally point messages -->
<message name= "RALLY_POINT" id= "175" >
<description > A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS</description>
<field name= "target_system" type= "uint8_t" > System ID</field>
<field name= "target_component" type= "uint8_t" > Component ID</field>
<field name= "idx" type= "uint8_t" > point index (first point is 0)</field>
<field name= "count" type= "uint8_t" > total number of points (for sanity checking)</field>
<field name= "lat" type= "int32_t" > Latitude of point in degrees * 1E7</field>
<field name= "lng" type= "int32_t" > Longitude of point in degrees * 1E7</field>
<field name= "alt" type= "int16_t" > Transit / loiter altitude in meters relative to home</field>
<!-- Path planned landings are still in the future, but we want these fields ready: -->
<field name= "break_alt" type= "int16_t" > Break altitude in meters relative to home</field>
<field name= "land_dir" type= "uint16_t" > Heading to aim for when landing. In centi-degrees.</field>
<field name= "flags" type= "uint8_t" > See RALLY_FLAGS enum for definition of the bitmask.</field>
</message>
<message name= "RALLY_FETCH_POINT" id= "176" >
<description > Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid.</description>
<field name= "target_system" type= "uint8_t" > System ID</field>
<field name= "target_component" type= "uint8_t" > Component ID</field>
<field name= "idx" type= "uint8_t" > point index (first point is 0)</field>
</message>
<!-- Coming soon
<message name= "RALLY_LAND_POINT" id= "177" >
<description > A rally landing point. An aircraft loitering at a rally point may choose one of these points to land at.</description>
<field name= "target_system" type= "uint8_t" > System ID</field>
<field name= "target_component" type= "uint8_t" > Component ID</field>
<field name= "idx" type= "uint8_t" > point index (first point is 0)</field>
<field name= "count" type= "uint8_t" > total number of points (for sanity checking)</field>
<field name= "lat" type= "int32_t" > Latitude of point</field>
<field name= "lng" type= "int32_t" > Longitude of point</field>
<field name= "alt" type= "uint16_t" > Ground AGL (usually 0)</field>
</message>
<message name= "RALLY_LAND_FETCH_POINT" id= "178" >
<description > Request a current rally land point from MAV</description>
<field name= "target_system" type= "uint8_t" > System ID</field>
<field name= "target_component" type= "uint8_t" > Component ID</field>
<field name= "idx" type= "uint8_t" > point index (first point is 0)</field>
</message>
-->
2012-04-23 21:57:33 -03:00
</messages>
</mavlink>
