ardupilot/libraries/APM_BinComm/protocol/protocol.def

#
# Message definitions for the ArduPilot Mega binary communications protocol.
#
# Process this file using:
#
# awk -f protogen.awk protocol.def > protocol.h
#
# Messages are declared with
#
#     message <MESSAGE_ID> <MESSAGE_NAME>
#
#       <MESSAGE_NAME> is a valid member of BinComm::MessageID.
#       <MESSAGE_ID> is the message ID byte
#
# Following a message declaration the fields of the message are
# defined in the format:
#
#    <TYPE> <NAME> [<COUNT>]
#
#       <TYPE> is a C type corresponding to the field.  The type must be a single
#       word, either an integer from <inttypes.h> or "char".
#	<NAME> is the name of the field; it should be unique within the message
#	<COUNT> is an optional array count for fields that are arrays
#

#
# Acknowledge message
#
message 0x00	MSG_ACKNOWLEDGE 
	uint8_t			msgID
	uint16_t		msgSum

#
# System heartbeat
#
message 0x01	MSG_HEARTBEAT 
	uint8_t			flightMode
	uint16_t		timeStamp
	uint16_t		batteryVoltage
	uint16_t		commandIndex

#
# Attitude report
#
message 0x02	MSG_ATTITUDE 
	int16_t			roll
	int16_t			pitch
	int16_t			yaw

#
# Location report
#
message 0x03	MSG_LOCATION 
	int32_t			latitude
	int32_t			longitude
	int16_t			altitude
	int16_t			groundSpeed
	int16_t			groundCourse
	uint16_t		timeOfWeek

#
# Optional pressure-based location report
#
message 0x04	MSG_PRESSURE 
	uint16_t		pressureAltitude
	uint16_t		airSpeed

#
# Text status message
#
message 0x05	MSG_STATUS_TEXT 
	uint8_t			severity
	char			text		50

#
# Algorithm performance report
#
message 0x06	MSG_PERF_REPORT 
	uint32_t		interval
	uint16_t		mainLoopCycles
	uint8_t			mainLoopTime
	uint8_t			gyroSaturationCount
	uint8_t			adcConstraintCount
	uint16_t		imuHealth
	uint16_t		gcsMessageCount

#
# System version messages
#
message 0x07	MSG_VERSION_REQUEST
	uint8_t			systemType
	uint8_t			systemID

message 0x08	MSG_VERSION
	uint8_t			systemType
	uint8_t			systemID
	uint8_t			firmwareVersion	3

#
# Flight command operations
#
message 0x20	MSG_COMMAND_REQUEST
	uint16_t		UNSPECIFIED

message 0x21	MSG_COMMAND_UPLOAD
	uint8_t			action
	uint16_t		itemNumber
	int			listLength
	uint8_t			commandID
	uint8_t			p1
	uint16_t		p2
	uint32_t		p3
	uint32_t		p4

message 0x22	MSG_COMMAND_LIST
	int			itemNumber
	int			listLength
	uint8_t			commandID
	uint8_t			p1
	uint16_t		p2
	uint32_t		p3
	uint32_t		p4

message 0x23	MSG_COMMAND_MODE_CHANGE
	uint16_t		UNSPECIFIED

#
# Parameter operations
#
message 0x30	MSG_VALUE_REQUEST
	uint8_t			valueID
	uint8_t			broadcast


message 0x31	MSG_VALUE_SET
	uint8_t			valueID
	uint32_t		value

message 0x32	MSG_VALUE
	uint8_t			valueID
	uint32_t		value

#
# PID adjustments
#
message 0x40	MSG_PID_REQUEST
	uint8_t			pidSet

message 0x41	MSG_PID_SET
	uint8_t			pidSet
	int32_t			p
	int32_t			i
	int32_t			d
	int16_t			integratorMax

message 0x42	MSG_PID
	uint8_t			pidSet
	int32_t			p
	int32_t			i
	int32_t			d
	int16_t			integratorMax


#
# Radio settings and values
#
message 0x50	MSG_TRIM_STARTUP
	uint16_t		value	8

message 0x51	MSG_TRIM_MIN
	uint16_t		value	8

message 0x52	MSG_TRIM_MAX
	uint16_t		value	8
	
message 0x53 	MSG_SERVOS
	int16_t			ch1
	int16_t 		ch2
	int16_t 		ch3
	int16_t 		ch4
	int16_t 		ch5
	int16_t 		ch6
	int16_t 		ch7
	int16_t 		ch8	

#
# Direct sensor access
#
message 0x60	MSG_SENSOR
	uint16_t		UNSPECIFIED

#
# Simulation-related messages
#
message 0x70	MSG_SIM
	uint16_t		UNSPECIFIED

#
# Direct I/O pin control
#
message 0x80	MSG_PIN_REQUEST
	uint16_t		UNSPECIFIED

message 0x81	MSG_PIN_SET
	uint16_t		UNSPECIFIED

#
# Dataflash operations
#
message 0x90	MSG_DATAFLASH_REQUEST
	uint16_t		UNSPECIFIED
	
message 0x91	MSG_DATAFLASH_SET
	uint16_t		UNSPECIFIED
	
#
# EEPROM operations
#
message 0xa0	MSG_EEPROM_REQUEST
	uint16_t		UNSPECIFIED

message 0xa1	MSG_EEPROM_SET
	uint16_t		UNSPECIFIED