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GCS_MAVLink: move GIMBAL_REPORT and GIMBAL_CONTROL and reserve messages

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Jonathan Challinger 2015-03-19 10:27:37 -07:00 committed by Andrew Tridgell
parent 55befdc345
commit 73b8890bd3
1 changed files with 28 additions and 31 deletions
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59
libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
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@ -507,34 +507,6 @@
<field type="uint8_t" name="target_component">Component ID</field>
</message>
<message name="GIMBAL_REPORT" id="184">
<description>Report from MAVLink enabled gimbal to vehicle. The deltas are in gimbal sensor frame. Joint measurements assume a 312 ordering (azimuth, roll, pitch).</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="delta_time">Time since last update (seconds)</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_roll">Joint roll, radians</field>
<field type="float" name="joint_pitch">Joint pitch, radians</field>
<field type="float" name="joint_yaw">Joint yaw, radians</field>
</message>
<message name="GIMBAL_CONTROL" id="185">
<description>Control packet from vehicle to MAVLink enabled gimbal. All values in gimbal sensor frame</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>
<message name="LED_CONTROL" id="186">
<description>Control vehicle LEDs</description>
<field type="uint8_t" name="target_system">System ID</field>
@ -545,11 +517,8 @@
<field type="uint8_t[24]" name="custom_bytes">Custom Bytes</field>
</message>
<!-- 187 to 190 RESERVED for camera control -->
<!-- 191 to 192 RESERVED for mag calibration -->
<!-- EKF status message from autopilot to GCS. -->
<message name="EKF_STATUS_REPORT" id="193">
<description>EKF Status message including flags and variances</description>
@ -561,5 +530,33 @@
<field name="terrain_alt_variance" type="float">Terrain Altitude variance</field>
</message>
<message name="GIMBAL_REPORT" id="200">
<description>3 axis gimbal mesuraments</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="delta_time">Time since last update (seconds)</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 X (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_roll"> Joint ROLL (radians)</field>
<field type="float" name="joint_el"> Joint EL (radians)</field>
<field type="float" name="joint_az"> Joint AZ (radians)</field>
</message>
<message name="GIMBAL_CONTROL" id="201">
<description>Control message for rate 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 (rad/s)</field>
<field type="float" name="demanded_rate_y">Demanded angular rate Y (rad/s)</field>
<field type="float" name="demanded_rate_z">Demanded angular rate Z (rad/s)</field>
</message>
<!-- 202 to 214 RESERVED for gimbal control -->
<!-- 215 to 218 RESERVED for camera control -->
</messages>
</mavlink>