From b3bce13bdf25e34aa6a90ca6c067eac050b42c59 Mon Sep 17 00:00:00 2001 From: Randy Mackay <rmackay9@yahoo.com> Date: Wed, 17 Sep 2014 16:08:27 +0900 Subject: [PATCH] GCS_MAVLink: add MAV_CMD_DO_GRIPPER --- .../message_definitions/ardupilotmega.xml | 21 +++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml b/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml index 072e1d61fa..e16a5ff141 100644 --- a/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml +++ b/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml @@ -23,6 +23,16 @@ <param index="6">Empty</param> <param index="7">Empty</param> </entry> + <entry name="MAV_CMD_DO_GRIPPER" value="211"> + <description>Mission command to operate EPM gripper</description> + <param index="1">gripper number (a number from 1 to max number of grippers on the vehicle)</param> + <param index="2">gripper action (0=release, 1=grab. See GRIPPER_ACTIONS enum)</param> + <param index="3">Empty</param> + <param index="4">Empty</param> + <param index="5">Empty</param> + <param index="6">Empty</param> + <param index="7">Empty</param> + </entry> </enum> <!-- AP_Limits Enums --> @@ -75,6 +85,17 @@ </entry> </enum> + <!-- gripper action enum --> + <enum name="GRIPPER_ACTIONS"> + <description>Gripper actions.</description> + <entry name="GRIPPER_ACTION_RELEASE" value="0"> + <description>gripper release of cargo</description> + </entry> + <entry name="GRIPPER_ACTION_GRAB" value="1"> + <description>gripper grabs onto cargo</description> + </entry> + </enum> + <!-- Camera event types --> <enum name="CAMERA_STATUS_TYPES"> <entry name="CAMERA_STATUS_TYPE_HEARTBEAT" value="0"><description>Camera heartbeat, announce camera component ID at 1hz</description></entry>