Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
ardupilot/libraries/GCS_MAVLink/message_definitions/pixhawk.xml

228 lines
15 KiB
XML
Raw Normal View History

MAVLink: re-add the XML message definitions these are a very useful reference for the current headers in the code
2012-04-23 21:57:33 -03:00
<?xml version='1.0'?>
<mavlink>
<include>common.xml</include>
<enums>
<enum name="DATA_TYPES">
<description>Content Types for data transmission handshake</description>
<entry value="1" name="DATA_TYPE_JPEG_IMAGE"/>
<entry value="2" name="DATA_TYPE_RAW_IMAGE"/>
<entry value="3" name="DATA_TYPE_KINECT"/>
</enum>
MAVLink: updated to latest upstream mavlink this includes no significant changes
2012-05-25 04:57:34 -03:00
<enum name="MAV_CMD">
<!-- 1-10000 reserved for common commands -->
<entry value="10001" name="MAV_CMD_DO_START_SEARCH">
<description>Starts a search</description>
<param index="1">1 to arm, 0 to disarm</param>
</entry>
<entry value="10002" name="MAV_CMD_DO_FINISH_SEARCH">
<description>Starts a search</description>
<param index="1">1 to arm, 0 to disarm</param>
</entry>
<entry value="10003" name="MAV_CMD_NAV_SWEEP">
<description>Starts a search</description>
<param index="1">1 to arm, 0 to disarm</param>
</entry>
</enum>
MAVLink: re-add the XML message definitions these are a very useful reference for the current headers in the code
2012-04-23 21:57:33 -03:00
</enums>
<messages>
<message id="151" name="SET_CAM_SHUTTER">
<field type="uint8_t" name="cam_no">Camera id</field>
<field type="uint8_t" name="cam_mode">Camera mode: 0 = auto, 1 = manual</field>
<field type="uint8_t" name="trigger_pin">Trigger pin, 0-3 for PtGrey FireFly</field>
<field type="uint16_t" name="interval">Shutter interval, in microseconds</field>
<field type="uint16_t" name="exposure">Exposure time, in microseconds</field>
<field type="float" name="gain">Camera gain</field>
</message>
<message id="152" name="IMAGE_TRIGGERED">
<field type="uint64_t" name="timestamp">Timestamp</field>
<field type="uint32_t" name="seq">IMU seq</field>
<field type="float" name="roll">Roll angle in rad</field>
<field type="float" name="pitch">Pitch angle in rad</field>
<field type="float" name="yaw">Yaw angle in rad</field>
<field type="float" name="local_z">Local frame Z coordinate (height over ground)</field>
<field type="float" name="lat">GPS X coordinate</field>
<field type="float" name="lon">GPS Y coordinate</field>
<field type="float" name="alt">Global frame altitude</field>
<field type="float" name="ground_x">Ground truth X</field>
<field type="float" name="ground_y">Ground truth Y</field>
<field type="float" name="ground_z">Ground truth Z</field>
</message>
<message id="153" name="IMAGE_TRIGGER_CONTROL">
<field type="uint8_t" name="enable">0 to disable, 1 to enable</field>
</message>
<message id="154" name="IMAGE_AVAILABLE">
<field type="uint64_t" name="cam_id">Camera id</field>
<field type="uint8_t" name="cam_no">Camera # (starts with 0)</field>
<field type="uint64_t" name="timestamp">Timestamp</field>
<field type="uint64_t" name="valid_until">Until which timestamp this buffer will stay valid</field>
<field type="uint32_t" name="img_seq">The image sequence number</field>
<field type="uint32_t" name="img_buf_index">Position of the image in the buffer, starts with 0</field>
<field type="uint16_t" name="width">Image width</field>
<field type="uint16_t" name="height">Image height</field>
<field type="uint16_t" name="depth">Image depth</field>
<field type="uint8_t" name="channels">Image channels</field>
<field type="uint32_t" name="key">Shared memory area key</field>
<field type="uint32_t" name="exposure">Exposure time, in microseconds</field>
<field type="float" name="gain">Camera gain</field>
<field type="float" name="roll">Roll angle in rad</field>
<field type="float" name="pitch">Pitch angle in rad</field>
<field type="float" name="yaw">Yaw angle in rad</field>
<field type="float" name="local_z">Local frame Z coordinate (height over ground)</field>
<field type="float" name="lat">GPS X coordinate</field>
<field type="float" name="lon">GPS Y coordinate</field>
<field type="float" name="alt">Global frame altitude</field>
<field type="float" name="ground_x">Ground truth X</field>
<field type="float" name="ground_y">Ground truth Y</field>
<field type="float" name="ground_z">Ground truth Z</field>
</message>
<message id="160" name="SET_POSITION_CONTROL_OFFSET">
<description>Message sent to the MAV to set a new offset from the currently controlled position</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="float" name="x">x position offset</field>
<field type="float" name="y">y position offset</field>
<field type="float" name="z">z position offset</field>
<field type="float" name="yaw">yaw orientation offset in radians, 0 = NORTH</field>
</message>
<!-- Message sent by the MAV once it sets a new position as reference in the controller -->
<message id="170" name="POSITION_CONTROL_SETPOINT">
<field type="uint16_t" name="id">ID of waypoint, 0 for plain position</field>
<field type="float" name="x">x position</field>
<field type="float" name="y">y position</field>
<field type="float" name="z">z position</field>
<field type="float" name="yaw">yaw orientation in radians, 0 = NORTH</field>
</message>
<message id="171" name="MARKER">
<field type="uint16_t" name="id">ID</field>
<field type="float" name="x">x position</field>
<field type="float" name="y">y position</field>
<field type="float" name="z">z position</field>
<field type="float" name="roll">roll orientation</field>
<field type="float" name="pitch">pitch orientation</field>
<field type="float" name="yaw">yaw orientation</field>
</message>
<message id="172" name="RAW_AUX">
<field type="uint16_t" name="adc1">ADC1 (J405 ADC3, LPC2148 AD0.6)</field>
<field type="uint16_t" name="adc2">ADC2 (J405 ADC5, LPC2148 AD0.2)</field>
<field type="uint16_t" name="adc3">ADC3 (J405 ADC6, LPC2148 AD0.1)</field>
<field type="uint16_t" name="adc4">ADC4 (J405 ADC7, LPC2148 AD1.3)</field>
<field type="uint16_t" name="vbat">Battery voltage</field>
<field type="int16_t" name="temp">Temperature (degrees celcius)</field>
<field type="int32_t" name="baro">Barometric pressure (hecto Pascal)</field>
</message>
<message id="180" name="WATCHDOG_HEARTBEAT">
<field type="uint16_t" name="watchdog_id">Watchdog ID</field>
<field type="uint16_t" name="process_count">Number of processes</field>
</message>
<message id="181" name="WATCHDOG_PROCESS_INFO">
<field type="uint16_t" name="watchdog_id">Watchdog ID</field>
<field type="uint16_t" name="process_id">Process ID</field>
<field type="char[100]" name="name">Process name</field>
<field type="char[147]" name="arguments">Process arguments</field>
<field type="int32_t" name="timeout">Timeout (seconds)</field>
</message>
<message id="182" name="WATCHDOG_PROCESS_STATUS">
<field type="uint16_t" name="watchdog_id">Watchdog ID</field>
<field type="uint16_t" name="process_id">Process ID</field>
<field type="uint8_t" name="state">Is running / finished / suspended / crashed</field>
<field type="uint8_t" name="muted">Is muted</field>
<field type="int32_t" name="pid">PID</field>
<field type="uint16_t" name="crashes">Number of crashes</field>
</message>
<message id="183" name="WATCHDOG_COMMAND">
<field type="uint8_t" name="target_system_id">Target system ID</field>
<field type="uint16_t" name="watchdog_id">Watchdog ID</field>
<field type="uint16_t" name="process_id">Process ID</field>
<field type="uint8_t" name="command_id">Command ID</field>
</message>
<message id="190" name="PATTERN_DETECTED">
<field type="uint8_t" name="type">0: Pattern, 1: Letter</field>
<field type="float" name="confidence">Confidence of detection</field>
<field type="char[100]" name="file">Pattern file name</field>
<field type="uint8_t" name="detected">Accepted as true detection, 0 no, 1 yes</field>
</message>
<message id="191" name="POINT_OF_INTEREST">
<description>Notifies the operator about a point of interest (POI). This can be anything detected by the
system. This generic message is intented to help interfacing to generic visualizations and to display
the POI on a map.
</description>
<field type="uint8_t" name="type">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field>
<field type="uint8_t" name="color">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field>
<field type="uint8_t" name="coordinate_system">0: global, 1:local</field>
<field type="uint16_t" name="timeout">0: no timeout, >1: timeout in seconds</field>
<field type="float" name="x">X Position</field>
<field type="float" name="y">Y Position</field>
<field type="float" name="z">Z Position</field>
<field type="char[26]" name="name">POI name</field>
</message>
<message id="192" name="POINT_OF_INTEREST_CONNECTION">
<description>Notifies the operator about the connection of two point of interests (POI). This can be anything detected by the
system. This generic message is intented to help interfacing to generic visualizations and to display
the POI on a map.
</description>
<field type="uint8_t" name="type">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field>
<field type="uint8_t" name="color">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field>
<field type="uint8_t" name="coordinate_system">0: global, 1:local</field>
<field type="uint16_t" name="timeout">0: no timeout, >1: timeout in seconds</field>
<field type="float" name="xp1">X1 Position</field>
<field type="float" name="yp1">Y1 Position</field>
<field type="float" name="zp1">Z1 Position</field>
<field type="float" name="xp2">X2 Position</field>
<field type="float" name="yp2">Y2 Position</field>
<field type="float" name="zp2">Z2 Position</field>
<field type="char[26]" name="name">POI connection name</field>
</message>
<message id="195" name="BRIEF_FEATURE">
<field type="float" name="x">x position in m</field>
<field type="float" name="y">y position in m</field>
<field type="float" name="z">z position in m</field>
<field type="uint8_t" name="orientation_assignment">Orientation assignment 0: false, 1:true</field>
<field type="uint16_t" name="size">Size in pixels</field>
<field type="uint16_t" name="orientation">Orientation</field>
<field type="uint8_t[32]" name="descriptor">Descriptor</field>
<field type="float" name="response">Harris operator response at this location</field>
</message>
<message id="200" name="ATTITUDE_CONTROL">
<field type="uint8_t" name="target">The system to be controlled</field>
<field type="float" name="roll">roll</field>
<field type="float" name="pitch">pitch</field>
<field type="float" name="yaw">yaw</field>
<field type="float" name="thrust">thrust</field>
<field type="uint8_t" name="roll_manual">roll control enabled auto:0, manual:1</field>
<field type="uint8_t" name="pitch_manual">pitch auto:0, manual:1</field>
<field type="uint8_t" name="yaw_manual">yaw auto:0, manual:1</field>
<field type="uint8_t" name="thrust_manual">thrust auto:0, manual:1</field>
</message>
GCS_MAVLink: import latest MAVLink XML
2014-08-06 23:21:10 -03:00
<message id="205" name="DETECTION_STATS">
GCS_MAVLink: mavlink XML updates from upstream
2014-09-11 07:15:44 -03:00
<field type="uint32_t" name="detections">Number of detections</field>
<field type="uint32_t" name="cluster_iters">Number of cluster iterations</field>
GCS_MAVLink: import latest MAVLink XML
2014-08-06 23:21:10 -03:00
<field type="float" name="best_score">Best score</field>
GCS_MAVLink: mavlink XML updates from upstream
2014-09-11 07:15:44 -03:00
<field type="int32_t" name="best_lat">Latitude of the best detection * 1E7</field>
<field type="int32_t" name="best_lon">Longitude of the best detection * 1E7</field>
<field type="int32_t" name="best_alt">Altitude of the best detection * 1E3</field>
<field type="uint32_t" name="best_detection_id">Best detection ID</field>
<field type="uint32_t" name="best_cluster_id">Best cluster ID</field>
<field type="uint32_t" name="best_cluster_iter_id">Best cluster ID</field>
<field type="uint32_t" name="images_done">Number of images already processed</field>
<field type="uint32_t" name="images_todo">Number of images still to process</field>
GCS_MAVLink: import latest MAVLink XML
2014-08-06 23:21:10 -03:00
<field type="float" name="fps">Average images per seconds processed</field>
</message>
<message id="206" name="ONBOARD_HEALTH">
<field type="uint32_t" name="uptime">Uptime of system</field>
<field type="uint16_t" name="cpu_freq">CPU frequency</field>
<field type="uint8_t" name="cpu_load">CPU load in percent</field>
<field type="uint8_t" name="ram_usage">RAM usage in percent</field>
<field type="float" name="ram_total">RAM size in GiB</field>
<field type="uint8_t" name="swap_usage">Swap usage in percent</field>
<field type="float" name="swap_total">Swap size in GiB</field>
<field type="int8_t" name="disk_health">Disk health (-1: N/A, 0: ERR, 1: RO, 2: RW)</field>
<field type="uint8_t" name="disk_usage">Disk usage in percent</field>
<field type="float" name="disk_total">Disk total in GiB</field>
<field type="float" name="temp">Temperature</field>
<field type="float" name="voltage">Supply voltage V</field>
<field type="float" name="network_load_in">Network load inbound KiB/s</field>
<field type="float" name="network_load_out">Network load outbound in KiB/s </field>
</message>
MAVLink: re-add the XML message definitions these are a very useful reference for the current headers in the code
2012-04-23 21:57:33 -03:00
</messages>
</mavlink>