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https://github.com/ArduPilot/ardupilot
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GCS_MAVlink: add GIMBAL_ and GOPRO_ messages
This commit is contained in:
Jonathan Challinger
Randy Mackay
parent
87e6452ee9
commit
2053d5e42e
@ -114,6 +114,101 @@
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<entry name="CLOSEDLOOP" value="3"> <description>Closed loop feedback from camera, we know for sure it has successfully taken a picture</description></entry>
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<entry name="OPENLOOP" value="4"> <description>Open loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture</description></entry>
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</enum>
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<!-- Gimbal payload enumerations -->
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<enum name="MAV_MODE_GIMBAL">
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<entry name="MAV_MODE_GIMBAL_UNINITIALIZED" value="0">
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<description>Gimbal is powered on but has not started initializing yet</description>
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</entry>
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<entry name="MAV_MODE_GIMBAL_CALIBRATING_PITCH" value="1">
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<description>Gimbal is currently running calibration on the pitch axis</description>
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</entry>
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<entry name="MAV_MODE_GIMBAL_CALIBRATING_ROLL" value="2">
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<description>Gimbal is currently running calibration on the roll axis</description>
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</entry>
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<entry name="MAV_MODE_GIMBAL_CALIBRATING_YAW" value="3">
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<description>Gimbal is currently running calibration on the yaw axis</description>
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</entry>
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<entry name="MAV_MODE_GIMBAL_INITIALIZED" value="4">
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<description>Gimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter</description>
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</entry>
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<entry name="MAV_MODE_GIMBAL_ACTIVE" value="5">
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<description>Gimbal is actively stabilizing</description>
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</entry>
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<entry name="MAV_MODE_GIMBAL_RATE_CMD_TIMEOUT" value="6">
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<description>Gimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command</description>
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</entry>
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</enum>
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<enum name="GIMBAL_AXIS">
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<entry name="GIMBAL_AXIS_YAW" value="0">
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<description>Gimbal yaw axis</description>
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</entry>
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<entry name="GIMBAL_AXIS_PITCH" value="1">
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<description>Gimbal pitch axis</description>
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</entry>
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<entry name="GIMBAL_AXIS_ROLL" value="2">
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<description>Gimbal roll axis</description>
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</entry>
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</enum>
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<enum name="GIMBAL_AXIS_CALIBRATION_STATUS">
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<entry name="GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESS" value="0">
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<description>Axis calibration is in progress</description>
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</entry>
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<entry name="GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDED" value="1">
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<description>Axis calibration succeeded</description>
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</entry>
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<entry name="GIMBAL_AXIS_CALIBRATION_STATUS_FAILED" value="2">
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<description>Axis calibration failed</description>
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</entry>
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</enum>
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<enum name="FACTORY_TEST">
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<entry name="FACTORY_TEST_AXIS_RANGE_LIMITS" value="0">
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<description>Tests to make sure each axis can move to its mechanical limits</description>
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</entry>
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</enum>
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<!-- GoPro command result enumeration -->
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<enum name="GOPRO_CMD_RESULT">
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<entry name="GOPRO_CMD_RESULT_UNKNOWN" value="0">
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<description>The result of the command is unknown</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_SUCCESSFUL" value="1">
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<description>The command was successfully sent, and a response was successfully received</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_SEND_CMD_START_TIMEOUT" value="2">
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<description>Timed out waiting for the GoPro to acknowledge our request to send a command</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_SEND_CMD_COMPLETE_TIMEOUT" value="3">
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<description>Timed out waiting for the GoPro to read the command</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_GET_RESPONSE_START_TIMEOUT" value="4">
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<description>Timed out waiting for the GoPro to begin transmitting a response to the command</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_GET_RESPONSE_COMPLETE_TIMEOUT" value="5">
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<description>Timed out waiting for the GoPro to finish transmitting a response to the command</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_GET_CMD_COMPLETE_TIMEOUT" value="6">
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<description>Timed out waiting for the GoPro to finish transmitting its own command</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_SEND_RESPONSE_START_TIMEOUT" value="7">
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<description>Timed out waiting for the GoPro to start reading a response to its own command</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_SEND_RESPONSE_COMPLETE_TIMEOUT" value="8">
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<description>Timed out waiting for the GoPro to finish reading a response to its own command</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_PREEMPTED" value="9">
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<description>Command to the GoPro was preempted by the GoPro sending its own command</description>
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</entry>
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<entry name="GOPRO_CMD_RECEIVED_DATA_OVERFLOW" value="10">
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<description>More data than expected received in response to the command</description>
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</entry>
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<entry name="GOPRO_CMD_RECEIVED_DATA_UNDERFLOW" value="11">
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<description>Less data than expected received in response to the command</description>
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</entry>
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</enum>
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<!-- led control pattern enums (enumeration of specific patterns) -->
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<enum name="LED_CONTROL_PATTERN">
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@ -555,8 +650,134 @@
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<field type="float" name="demanded_rate_z">Demanded angular rate Z (rad/s)</field>
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</message>
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<!-- 202 to 214 RESERVED for gimbal control -->
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<!-- 215 to 218 RESERVED for camera control -->
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<message name="GIMBAL_RESET" id="202">
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<description>
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Causes the gimbal to reset and boot as if it was just powered on
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</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>
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</message>
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<message name="GIMBAL_AXIS_CALIBRATION_PROGRESS" id="203">
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<description>
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Reports progress and success or failure of gimbal axis calibration procedure
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</description>
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<field name="calibration_axis" type="uint8_t" enum="GIMBAL_AXIS">Which gimbal axis we're reporting calibration progress for</field>
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<field name="calibration_progress" type="uint8_t">The current calibration progress for this axis, 0x64=100%</field>
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<field name="calibration_status" type="uint8_t" enum="GIMBAL_AXIS_CALIBRATION_STATUS">The status of the running calibration</field>
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</message>
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<message name="GIMBAL_SET_HOME_OFFSETS" id="204">
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<description>
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Instructs the gimbal to set its current position as its new home position. Will primarily be used for factory calibration
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</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>
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</message>
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<message name="GIMBAL_HOME_OFFSET_CALIBRATION_RESULT" id="205">
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<description>
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Sent by the gimbal after it receives a SET_HOME_OFFSETS message to indicate the result of the home offset calibration
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</description>
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<field name="calibration_result" type="uint8_t" enum="GIMBAL_AXIS_CALIBRATION_STATUS">The result of the home offset calibration</field>
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</message>
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<message name="GIMBAL_SET_FACTORY_PARAMETERS" id="206">
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<description>
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Set factory configuration parameters (such as assembly date and time, and serial number). This is only intended to be used
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during manufacture, not by end users, so it is protected by a simple checksum of sorts (this won't stop anybody determined,
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it's mostly just to keep the average user from trying to modify these values. This will need to be revisited if that isn't
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adequate.
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</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>
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<field name="magic_1" type="uint32_t">Magic number 1 for validation</field>
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<field name="magic_2" type="uint32_t">Magic number 2 for validation</field>
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<field name="magic_3" type="uint32_t">Magic number 3 for validation</field>
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<field name="assembly_year" type="uint16_t">Assembly Date Year</field>
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<field name="assembly_month" type="uint8_t">Assembly Date Month</field>
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<field name="assembly_day" type="uint8_t">Assembly Date Day</field>
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<field name="assembly_hour" type="uint8_t">Assembly Time Hour</field>
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<field name="assembly_minute" type="uint8_t">Assembly Time Minute</field>
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<field name="assembly_second" type="uint8_t">Assembly Time Second</field>
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<field name="serial_number_pt_1" type="uint32_t">Unit Serial Number Part 1 (part code, design, language/country)</field>
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<field name="serial_number_pt_2" type="uint32_t">Unit Serial Number Part 2 (option, year, month)</field>
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<field name="serial_number_pt_3" type="uint32_t">Unit Serial Number Part 3 (incrementing serial number per month)</field>
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</message>
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<message name="GIMBAL_FACTORY_PARAMETERS_LOADED" id="207">
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<description>
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Sent by the gimbal after the factory parameters are successfully loaded, to inform the factory software that the load is complete
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</description>
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<field name="dummy" type="uint8_t">Dummy field because mavgen doesn't allow messages with no fields</field>
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</message>
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<message name="GIMBAL_ERASE_FIRMWARE_AND_CONFIG" id="208">
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<description>
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Commands the gimbal to erase its firmware image and flash configuration, leaving only the bootloader. The gimbal will then reboot into the bootloader,
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ready for the load of a new application firmware image. Erasing the flash configuration will cause the gimbal to re-perform axis calibration when a
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new firmware image is loaded, and will cause all tuning parameters to return to their factory defaults. WARNING: sending this command will render a
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gimbal inoperable until a new firmware image is loaded onto it. For this reason, a particular "knock" value must be sent for the command to take effect.
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Use this command at your own risk
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</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>
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<field name="knock" type="uint32_t">Knock value to confirm this is a valid request</field>
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</message>
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<message name="GIMBAL_PERFORM_FACTORY_TESTS" id="209">
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<description>
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Command the gimbal to perform a series of factory tests. Should not be needed by end users
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</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>
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</message>
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<message name="GIMBAL_REPORT_FACTORY_TESTS_PROGRESS" id="210">
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<description>
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Reports the current status of a section of a running factory test
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</description>
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<field name="test" type="uint8_t" enum="FACTORY_TEST">Which factory test is currently running</field>
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<field name="test_section" type="uint8_t">Which section of the test is currently running. The meaning of this is test-dependent</field>
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<field name="test_section_progress" type="uint8_t">The progress of the current test section, 0x64=100%</field>
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<field name="test_status" type="uint8_t">The status of the currently executing test section. The meaning of this is test and section-dependent</field>
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</message>
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<!-- 211 to 214 RESERVED for more GIMBAL -->
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<message name="GOPRO_POWER_ON" id="215">
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<description>Instruct a HeroBus attached GoPro to power on</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>
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</message>
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<message name="GOPRO_POWER_OFF" id="216">
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<description>Instruct a HeroBus attached GoPro to power off</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>
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</message>
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<message name="GOPRO_COMMAND" id="217">
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<description>Send a command to a HeroBus attached GoPro. Will generate a GOPRO_RESPONSE message with results of the command</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>
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<field name="gp_cmd_name_1" type="uint8_t">First character of the 2 character GoPro command</field>
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<field name="gp_cmd_name_2" type="uint8_t">Second character of the 2 character GoPro command</field>
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<field name="gp_cmd_parm" type="uint8_t">Parameter for the command</field>
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</message>
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<message name="GOPRO_RESPONSE" id="218">
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<description>
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Response to a command sent to a HeroBus attached GoPro with a GOPRO_COMMAND message. Contains response from the camera as well as information about any errors encountered while attempting to communicate with the camera
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</description>
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<field name="gp_cmd_name_1" type="uint8_t">First character of the 2 character GoPro command that generated this response</field>
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<field name="gp_cmd_name_2" type="uint8_t">Second character of the 2 character GoPro command that generated this response</field>
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<field name="gp_cmd_response_status" type="uint8_t">Response byte from the GoPro's response to the command. 0 = Success, 1 = Failure</field>
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<field name="gp_cmd_response_argument" type="uint8_t">Response argument from the GoPro's response to the command</field>
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<field name="gp_cmd_result" type="uint16_t" enum="GOPRO_CMD_RESULT">Result of the command attempt to the GoPro, as defined by GOPRO_CMD_RESULT enum.</field>
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</message>
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<!-- 219 to 225 RESERVED for more GOPRO-->
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</messages>
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</mavlink>
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