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GCS_MAVLink: added GIMBAL messages, mavlink ID and type

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Andrew Tridgell 2015-01-29 08:45:41 +11:00
parent 791dfbff7e
commit 73670edda6
2 changed files with 32 additions and 0 deletions
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26
libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
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@ -479,5 +479,31 @@
<field type="float" name="v4">test variable4</field>
</message>
<message name="GIMBAL_REPORT" id="184">
<description>Report from MAVLink enabled gimbal to vehicle</description>
<field type="uint32_t" name="counter">Report counter</field>
<field type="float" name="delta_angle_x">Delta angle X, radians</field>
<field type="float" name="delta_angle_y">Delta angle Y, radians</field>
<field type="float" name="delta_angle_z">Delta angle Z, radians</field>
<field type="float" name="delta_velocity_x">Delta velocity X, m/s</field>
<field type="float" name="delta_velocity_y">Delta velocity Y, m/s</field>
<field type="float" name="delta_velocity_z">Delta velocity Z, m/s</field>
<field type="float" name="joint_yaw">Joint yaw, radians</field>
<field type="float" name="joint_roll">Joint roll, radians</field>
<field type="float" name="joint_pitch">Joint pitch, radians</field>
</message>
<message name="GIMBAL_CONTROL" id="185">
<description>Control packet from vehicle to MAVLink enabled gimbal</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="demanded_rate_x">Demanded angular rate X, radians/s</field>
<field type="float" name="demanded_rate_y">Demanded angular rate Y, radians/s</field>
<field type="float" name="demanded_rate_z">Demanded angular rate Z, radians/s</field>
<field type="float" name="gyro_bias_x">Gyro bias X, radians/s</field>
<field type="float" name="gyro_bias_y">Gyro bias Y, radians/s</field>
<field type="float" name="gyro_bias_z">Gyro bias Z, radians/s</field>
</message>
</messages>
</mavlink>

6
libraries/GCS_MAVLink/message_definitions/common.xml
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@ -124,6 +124,9 @@
<description>Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.</description>
</entry>
<!-- Entries up to 25 reserved for other VTOL airframes -->
<entry value="26" name="MAV_TYPE_GIMBAL">
<description>Onboard gimbal</description>
</entry>
</enum>
<!-- WARNING: MAV_ACTION Enum is no longer supported - has been removed. Please use MAV_CMD -->
<enum name="MAV_MODE_FLAG">
@ -337,6 +340,9 @@
<entry value="153" name="MAV_COMP_ID_SERVO14">
<description/>
</entry>
<entry value="154" name="MAV_COMP_ID_GIMBAL">
<description/>
</entry>
</enum>
<enum name="MAV_SYS_STATUS_SENSOR">
<description>These encode the sensors whose status is sent as part of the SYS_STATUS message.</description>