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updated XML MAVLink definitions 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3272 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
tridge60@gmail.com 2011-09-05 06:19:39 +00:00
parent 8b5731fcad
commit f61aa4d68c
3 changed files with 306 additions and 319 deletions
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6
libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
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@ -35,5 +35,11 @@
<field type="int16_t" name="mag_ofs_z">magnetometer Z offset</field> <field type="int16_t" name="mag_ofs_z">magnetometer Z offset</field>
</message> </message>
<message id="152" name="MEMINFO">
<description>state of APM memory</description>
<field type="uint16_t" name="brkval">heap top</field>
<field type="uint16_t" name="freemem">free memory</field>
</message>
</messages> </messages>
</mavlink> </mavlink>

144
libraries/GCS_MAVLink/message_definitions/common.xml
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@ -261,22 +261,21 @@
<param index="6">Empty</param> <param index="6">Empty</param>
<param index="7">Empty</param> <param index="7">Empty</param>
</entry> </entry>
<entry value="201" name="MAV_CMD_DO_SET_ROI">
<entry value="201" name="MAV_CMD_DO_SET_ROI"> <description>Sets the region of interest (ROI) for a sensor set or the
<description>Sets the region of interest (ROI) for a sensor set or the
vehicle itself. This can then be used by the vehicles control vehicle itself. This can then be used by the vehicles control
system to control the vehicle attitude and the attitude of various system to control the vehicle attitude and the attitude of various
devices such as cameras. devices such as cameras.
</description> </description>
<param index="1">Region of interest mode. (see MAV_ROI enum)</param> <param index="1">Region of interest mode. (see MAV_ROI enum)</param>
<param index="2">Waypoint index/ target ID. (see MAV_ROI enum)</param> <param index="2">Waypoint index/ target ID. (see MAV_ROI enum)</param>
<param index="3">ROI index (allows a vehicle to manage multiple cameras etc.)</param> <param index="3">ROI index (allows a vehicle to manage multiple cameras etc.)</param>
<param index="4">Empty</param> <param index="4">Empty</param>
<param index="5">x the location of the fixed ROI (see MAV_FRAME)</param> <param index="5">x the location of the fixed ROI (see MAV_FRAME)</param>
<param index="6">y</param> <param index="6">y</param>
<param index="7">z</param> <param index="7">z</param>
</entry> </entry>
<entry value="240" name="MAV_CMD_DO_LAST"> <entry value="240" name="MAV_CMD_DO_LAST">
<description>NOP - This command is only used to mark the upper limit of the DO commands in the enumeration</description> <description>NOP - This command is only used to mark the upper limit of the DO commands in the enumeration</description>
<param index="1">Empty</param> <param index="1">Empty</param>
<param index="2">Empty</param> <param index="2">Empty</param>
@ -340,28 +339,28 @@
<description>Dependent on the autopilot</description> <description>Dependent on the autopilot</description>
</entry> </entry>
</enum> </enum>
<enum name="MAV_ROI"> <enum name="MAV_ROI">
<description> The ROI (region of interest) for the vehicle. This can be <description> The ROI (region of interest) for the vehicle. This can be
be used by the vehicle for camera/vehicle attitude alignment (see be used by the vehicle for camera/vehicle attitude alignment (see
MAV_CMD_NAV_ROI). MAV_CMD_NAV_ROI).
</description> </description>
<entry value="0" name="MAV_ROI_NONE"> <entry value="0" name="MAV_ROI_NONE">
<description>No region of interest.</description> <description>No region of interest.</description>
</entry> </entry>
<entry value="1" name="MAV_ROI_WPNEXT"> <entry value="1" name="MAV_ROI_WPNEXT">
<description>Point toward next waypoint.</description> <description>Point toward next waypoint.</description>
</entry> </entry>
<entry value="2" name="MAV_ROI_WPINDEX"> <entry value="2" name="MAV_ROI_WPINDEX">
<description>Point toward given waypoint.</description> <description>Point toward given waypoint.</description>
</entry> </entry>
<entry value="3" name="MAV_ROI_LOCATION"> <entry value="3" name="MAV_ROI_LOCATION">
<description>Point toward fixed location.</description> <description>Point toward fixed location.</description>
</entry> </entry>
<entry value="4" name="MAV_ROI_TARGET"> <entry value="4" name="MAV_ROI_TARGET">
<description>Point toward of given id.</description> <description>Point toward of given id.</description>
</entry> </entry>
</enum> </enum>
</enums> </enums>
<messages> <messages>
<message id="0" name="HEARTBEAT"> <message id="0" name="HEARTBEAT">
<description>The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot).</description> <description>The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot).</description>
@ -746,7 +745,7 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se
</message> </message>
<message id="57" name="ROLL_PITCH_YAW_THRUST_SETPOINT"> <message id="57" name="ROLL_PITCH_YAW_THRUST_SETPOINT">
<description>Setpoint in roll, pitch, yaw currently active on the system.</description> <description>Setpoint in roll, pitch, yaw currently active on the system.</description>
<field type="uint32_t" name="time_ms">Timestamp in milliseconds since system boot</field> <field type="uint64_t" name="time_us">Timestamp in micro seconds since unix epoch</field>
<field type="float" name="roll">Desired roll angle in radians</field> <field type="float" name="roll">Desired roll angle in radians</field>
<field type="float" name="pitch">Desired pitch angle in radians</field> <field type="float" name="pitch">Desired pitch angle in radians</field>
<field type="float" name="yaw">Desired yaw angle in radians</field> <field type="float" name="yaw">Desired yaw angle in radians</field>
@ -754,7 +753,7 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se
</message> </message>
<message id="58" name="ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT"> <message id="58" name="ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT">
<description>Setpoint in rollspeed, pitchspeed, yawspeed currently active on the system.</description> <description>Setpoint in rollspeed, pitchspeed, yawspeed currently active on the system.</description>
<field type="uint32_t" name="time_ms">Timestamp in milliseconds since system boot</field> <field type="uint64_t" name="time_us">Timestamp in micro seconds since unix epoch</field>
<field type="float" name="roll_speed">Desired roll angular speed in rad/s</field> <field type="float" name="roll_speed">Desired roll angular speed in rad/s</field>
<field type="float" name="pitch_speed">Desired pitch angular speed in rad/s</field> <field type="float" name="pitch_speed">Desired pitch angular speed in rad/s</field>
<field type="float" name="yaw_speed">Desired yaw angular speed in rad/s</field> <field type="float" name="yaw_speed">Desired yaw angular speed in rad/s</field>
@ -802,38 +801,38 @@ of the controller before actual flight and to assist with tuning controller para
<field type="uint16_t" name="req_message_rate">Update rate in Hertz</field> <field type="uint16_t" name="req_message_rate">Update rate in Hertz</field>
<field type="uint8_t" name="start_stop">1 to start sending, 0 to stop sending.</field> <field type="uint8_t" name="start_stop">1 to start sending, 0 to stop sending.</field>
</message> </message>
<message id="67" name="HIL_STATE"> <message id="67" name="HIL_STATE">
<description>This packet is useful for high throughput <description>This packet is useful for high throughput
applications such as hardware in the loop simulations. applications such as hardware in the loop simulations.
</description> </description>
<field type="uint64_t" name="usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field> <field type="uint64_t" name="usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
<field type="float" name="roll">Roll angle (rad)</field> <field type="float" name="roll">Roll angle (rad)</field>
<field type="float" name="pitch">Pitch angle (rad)</field> <field type="float" name="pitch">Pitch angle (rad)</field>
<field type="float" name="yaw">Yaw angle (rad)</field> <field type="float" name="yaw">Yaw angle (rad)</field>
<field type="float" name="rollspeed">Roll angular speed (rad/s)</field> <field type="float" name="rollspeed">Roll angular speed (rad/s)</field>
<field type="float" name="pitchspeed">Pitch angular speed (rad/s)</field> <field type="float" name="pitchspeed">Pitch angular speed (rad/s)</field>
<field type="float" name="yawspeed">Yaw angular speed (rad/s)</field> <field type="float" name="yawspeed">Yaw angular speed (rad/s)</field>
<field type="int32_t" name="lat">Latitude, expressed as * 1E7</field> <field type="int32_t" name="lat">Latitude, expressed as * 1E7</field>
<field type="int32_t" name="lon">Longitude, expressed as * 1E7</field> <field type="int32_t" name="lon">Longitude, expressed as * 1E7</field>
<field type="int32_t" name="alt">Altitude in meters, expressed as * 1000 (millimeters)</field> <field type="int32_t" name="alt">Altitude in meters, expressed as * 1000 (millimeters)</field>
<field type="int16_t" name="vx">Ground X Speed (Latitude), expressed as m/s * 100</field> <field type="int16_t" name="vx">Ground X Speed (Latitude), expressed as m/s * 100</field>
<field type="int16_t" name="vy">Ground Y Speed (Longitude), expressed as m/s * 100</field> <field type="int16_t" name="vy">Ground Y Speed (Longitude), expressed as m/s * 100</field>
<field type="int16_t" name="vz">Ground Z Speed (Altitude), expressed as m/s * 100</field> <field type="int16_t" name="vz">Ground Z Speed (Altitude), expressed as m/s * 100</field>
<field type="int16_t" name="xacc">X acceleration (mg)</field> <field type="int16_t" name="xacc">X acceleration (mg)</field>
<field type="int16_t" name="yacc">Y acceleration (mg)</field> <field type="int16_t" name="yacc">Y acceleration (mg)</field>
<field type="int16_t" name="zacc">Z acceleration (mg)</field> <field type="int16_t" name="zacc">Z acceleration (mg)</field>
</message> </message>
<message id="68" name="HIL_CONTROLS"> <message id="68" name="HIL_CONTROLS">
<description>Hardware in the loop control outputs</description> <description>Hardware in the loop control outputs</description>
<field name="time_us" type="uint64_t">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field> <field type="uint64_t" name="time_us">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
<field name="roll_ailerons" type="float">Control output -3 .. 1</field> <field type="float" name="roll_ailerons">Control output -3 .. 1</field>
<field name="pitch_elevator" type="float">Control output -1 .. 1</field> <field type="float" name="pitch_elevator">Control output -1 .. 1</field>
<field name="yaw_rudder" type="float">Control output -1 .. 1</field> <field type="float" name="yaw_rudder">Control output -1 .. 1</field>
<field name="throttle" type="float">Throttle 0 .. 1</field> <field type="float" name="throttle">Throttle 0 .. 1</field>
<field name="mode" type="uint8_t">System mode (MAV_MODE)</field> <field type="uint8_t" name="mode">System mode (MAV_MODE)</field>
<field name="nav_mode" type="uint8_t">Navigation mode (MAV_NAV_MODE)</field> <field type="uint8_t" name="nav_mode">Navigation mode (MAV_NAV_MODE)</field>
</message> </message>
<message id="69" name="MANUAL_CONTROL"> <message id="69" name="MANUAL_CONTROL">
<field type="uint8_t" name="target">The system to be controlled</field> <field type="uint8_t" name="target">The system to be controlled</field>
<field type="float" name="roll">roll</field> <field type="float" name="roll">roll</field>
<field type="float" name="pitch">pitch</field> <field type="float" name="pitch">pitch</field>
@ -891,6 +890,25 @@ of the controller before actual flight and to assist with tuning controller para
<field type="float" name="command">Current airspeed in m/s</field> <field type="float" name="command">Current airspeed in m/s</field>
<field type="float" name="result">1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION</field> <field type="float" name="result">1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION</field>
</message> </message>
<message id="100" name="OPTICAL_FLOW">
<description>Optical flow from a flow sensor (e.g. optical mouse sensor)</description>
<field type="uint64_t" name="time">Timestamp (UNIX)</field>
<field type="uint8_t" name="sensor_id">Sensor ID</field>
<field type="int16_t" name="flow_x">Flow in pixels in x-sensor direction</field>
<field type="int16_t" name="flow_y">Flow in pixels in y-sensor direction</field>
<field type="uint8_t" name="quality">Optical flow quality / confidence. 0: bad, 255: maximum quality</field>
<field type="float" name="ground_distance">Ground distance in meters</field>
</message>
<message id="140" name="OBJECT_DETECTION_EVENT">
<description>Object has been detected</description>
<field type="uint32_t" name="time">Timestamp in milliseconds since system boot</field>
<field type="uint16_t" name="object_id">Object ID</field>
<field type="uint8_t" name="type">Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal</field>
<field type="char[20]" name="name">Name of the object as defined by the detector</field>
<field type="uint8_t" name="quality">Detection quality / confidence. 0: bad, 255: maximum confidence</field>
<field type="float" name="bearing">Angle of the object with respect to the body frame in NED coordinates in radians. 0: front</field>
<field type="float" name="distance">Ground distance in meters</field>
</message>
<!-- MESSAGE IDs 80 - 250: Space for custom messages in individual projectname_messages.xml files --> <!-- MESSAGE IDs 80 - 250: Space for custom messages in individual projectname_messages.xml files -->
<message id="251" name="DEBUG_VECT"> <message id="251" name="DEBUG_VECT">
<field type="char[10]" name="name">Name</field> <field type="char[10]" name="name">Name</field>

475
libraries/GCS_MAVLink/message_definitions/pixhawk.xml
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@ -1,264 +1,227 @@
<?xml version="1.0"?> <?xml version='1.0'?>
<mavlink> <mavlink>
<include>common.xml</include> <include>common.xml</include>
<enums>
<enums> <enum name="DATA_TYPES">
<enum name="DATA_TYPES"> <description>Content Types for data transmission handshake</description>
<description>Content Types for data transmission handshake</description> <entry value="1" name="DATA_TYPE_JPEG_IMAGE"/>
<entry name = "DATA_TYPE_JPEG_IMAGE" value="1"> <entry value="2" name="DATA_TYPE_RAW_IMAGE"/>
</entry> <entry value="3" name="DATA_TYPE_KINECT"/>
<entry name = "DATA_TYPE_RAW_IMAGE" value="2"> </enum>
</entry> </enums>
<entry name = "DATA_TYPE_KINECT" value="3"> <messages>
</entry> <message id="151" name="SET_CAM_SHUTTER">
</enum> <field type="uint8_t" name="cam_no">Camera id</field>
</enums> <field type="uint8_t" name="cam_mode">Camera mode: 0 = auto, 1 = manual</field>
<field type="uint8_t" name="trigger_pin">Trigger pin, 0-3 for PtGrey FireFly</field>
<messages> <field type="uint16_t" name="interval">Shutter interval, in microseconds</field>
<message name="ATTITUDE_CONTROL" id="85"> <field type="uint16_t" name="exposure">Exposure time, in microseconds</field>
<field name="target" type="uint8_t">The system to be controlled</field> <field type="float" name="gain">Camera gain</field>
<field name="roll" type="float">roll</field> </message>
<field name="pitch" type="float">pitch</field> <message id="152" name="IMAGE_TRIGGERED">
<field name="yaw" type="float">yaw</field> <field type="uint64_t" name="timestamp">Timestamp</field>
<field name="thrust" type="float">thrust</field> <field type="uint32_t" name="seq">IMU seq</field>
<field name="roll_manual" type="uint8_t">roll control enabled auto:0, manual:1</field> <field type="float" name="roll">Roll angle in rad</field>
<field name="pitch_manual" type="uint8_t">pitch auto:0, manual:1</field> <field type="float" name="pitch">Pitch angle in rad</field>
<field name="yaw_manual" type="uint8_t">yaw auto:0, manual:1</field> <field type="float" name="yaw">Yaw angle in rad</field>
<field name="thrust_manual" type="uint8_t">thrust auto:0, manual:1</field> <field type="float" name="local_z">Local frame Z coordinate (height over ground)</field>
</message> <field type="float" name="lat">GPS X coordinate</field>
<field type="float" name="lon">GPS Y coordinate</field>
<message name="SET_CAM_SHUTTER" id="100"> <field type="float" name="alt">Global frame altitude</field>
<field name="cam_no" type="uint8_t">Camera id</field> <field type="float" name="ground_x">Ground truth X</field>
<field name="cam_mode" type="uint8_t">Camera mode: 0 = auto, 1 = manual</field> <field type="float" name="ground_y">Ground truth Y</field>
<field name="trigger_pin" type="uint8_t">Trigger pin, 0-3 for PtGrey FireFly</field> <field type="float" name="ground_z">Ground truth Z</field>
<field name="interval" type="uint16_t">Shutter interval, in microseconds</field> </message>
<field name="exposure" type="uint16_t">Exposure time, in microseconds</field> <message id="153" name="IMAGE_TRIGGER_CONTROL">
<field name="gain" type="float">Camera gain</field> <field type="uint8_t" name="enable">0 to disable, 1 to enable</field>
</message> </message>
<message id="154" name="IMAGE_AVAILABLE">
<message name="IMAGE_TRIGGERED" id="101"> <field type="uint64_t" name="cam_id">Camera id</field>
<field name="timestamp" type="uint64_t">Timestamp</field> <field type="uint8_t" name="cam_no">Camera # (starts with 0)</field>
<field name="seq" type="uint32_t">IMU seq</field> <field type="uint64_t" name="timestamp">Timestamp</field>
<field name="roll" type="float">Roll angle in rad</field> <field type="uint64_t" name="valid_until">Until which timestamp this buffer will stay valid</field>
<field name="pitch" type="float">Pitch angle in rad</field> <field type="uint32_t" name="img_seq">The image sequence number</field>
<field name="yaw" type="float">Yaw angle in rad</field> <field type="uint32_t" name="img_buf_index">Position of the image in the buffer, starts with 0</field>
<field name="local_z" type="float">Local frame Z coordinate (height over ground)</field> <field type="uint16_t" name="width">Image width</field>
<field name="lat" type="float">GPS X coordinate</field> <field type="uint16_t" name="height">Image height</field>
<field name="lon" type="float">GPS Y coordinate</field> <field type="uint16_t" name="depth">Image depth</field>
<field name="alt" type="float">Global frame altitude</field> <field type="uint8_t" name="channels">Image channels</field>
<field name="ground_x" type="float">Ground truth X</field> <field type="uint32_t" name="key">Shared memory area key</field>
<field name="ground_y" type="float">Ground truth Y</field> <field type="uint32_t" name="exposure">Exposure time, in microseconds</field>
<field name="ground_z" type="float">Ground truth Z</field> <field type="float" name="gain">Camera gain</field>
</message> <field type="float" name="roll">Roll angle in rad</field>
<field type="float" name="pitch">Pitch angle in rad</field>
<message name="IMAGE_TRIGGER_CONTROL" id="102"> <field type="float" name="yaw">Yaw angle in rad</field>
<field name="enable" type="uint8_t">0 to disable, 1 to enable</field> <field type="float" name="local_z">Local frame Z coordinate (height over ground)</field>
</message> <field type="float" name="lat">GPS X coordinate</field>
<field type="float" name="lon">GPS Y coordinate</field>
<message name="IMAGE_AVAILABLE" id="103"> <field type="float" name="alt">Global frame altitude</field>
<field name="cam_id" type="uint64_t">Camera id</field> <field type="float" name="ground_x">Ground truth X</field>
<field name="cam_no" type="uint8_t">Camera # (starts with 0)</field> <field type="float" name="ground_y">Ground truth Y</field>
<field name="timestamp" type="uint64_t">Timestamp</field> <field type="float" name="ground_z">Ground truth Z</field>
<field name="valid_until" type="uint64_t">Until which timestamp this buffer will stay valid</field> </message>
<field name="img_seq" type="uint32_t">The image sequence number</field> <message id="156" name="VISION_POSITION_ESTIMATE">
<field name="img_buf_index" type="uint32_t">Position of the image in the buffer, starts with 0</field> <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
<field name="width" type="uint16_t">Image width</field> <field type="float" name="x">Global X position</field>
<field name="height" type="uint16_t">Image height</field> <field type="float" name="y">Global Y position</field>
<field name="depth" type="uint16_t">Image depth</field> <field type="float" name="z">Global Z position</field>
<field name="channels" type="uint8_t">Image channels</field> <field type="float" name="roll">Roll angle in rad</field>
<field name="key" type="uint32_t">Shared memory area key</field> <field type="float" name="pitch">Pitch angle in rad</field>
<field name="exposure" type="uint32_t">Exposure time, in microseconds</field> <field type="float" name="yaw">Yaw angle in rad</field>
<field name="gain" type="float">Camera gain</field> </message>
<field name="roll" type="float">Roll angle in rad</field> <message id="157" name="VICON_POSITION_ESTIMATE">
<field name="pitch" type="float">Pitch angle in rad</field> <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
<field name="yaw" type="float">Yaw angle in rad</field> <field type="float" name="x">Global X position</field>
<field name="local_z" type="float">Local frame Z coordinate (height over ground)</field> <field type="float" name="y">Global Y position</field>
<field name="lat" type="float">GPS X coordinate</field> <field type="float" name="z">Global Z position</field>
<field name="lon" type="float">GPS Y coordinate</field> <field type="float" name="roll">Roll angle in rad</field>
<field name="alt" type="float">Global frame altitude</field> <field type="float" name="pitch">Pitch angle in rad</field>
<field name="ground_x" type="float">Ground truth X</field> <field type="float" name="yaw">Yaw angle in rad</field>
<field name="ground_y" type="float">Ground truth Y</field> </message>
<field name="ground_z" type="float">Ground truth Z</field> <message id="158" name="VISION_SPEED_ESTIMATE">
</message> <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
<field type="float" name="x">Global X speed</field>
<message name="VISION_POSITION_ESTIMATE" id="111"> <field type="float" name="y">Global Y speed</field>
<field name="usec" type="uint64_t">Timestamp (milliseconds)</field> <field type="float" name="z">Global Z speed</field>
<field name="x" type="float">Global X position</field> </message>
<field name="y" type="float">Global Y position</field> <message id="159" name="POSITION_CONTROL_SETPOINT_SET">
<field name="z" type="float">Global Z position</field> <description>Message sent to the MAV to set a new position as reference for the controller</description>
<field name="roll" type="float">Roll angle in rad</field> <field type="uint8_t" name="target_system">System ID</field>
<field name="pitch" type="float">Pitch angle in rad</field> <field type="uint8_t" name="target_component">Component ID</field>
<field name="yaw" type="float">Yaw angle in rad</field> <field type="uint16_t" name="id">ID of waypoint, 0 for plain position</field>
</message> <field type="float" name="x">x position</field>
<field type="float" name="y">y position</field>
<message name="VICON_POSITION_ESTIMATE" id="112"> <field type="float" name="z">z position</field>
<field name="usec" type="uint64_t">Timestamp (milliseconds)</field> <field type="float" name="yaw">yaw orientation in radians, 0 = NORTH</field>
<field name="x" type="float">Global X position</field> </message>
<field name="y" type="float">Global Y position</field> <message id="160" name="POSITION_CONTROL_OFFSET_SET">
<field name="z" type="float">Global Z position</field> <description>Message sent to the MAV to set a new offset from the currently controlled position</description>
<field name="roll" type="float">Roll angle in rad</field> <field type="uint8_t" name="target_system">System ID</field>
<field name="pitch" type="float">Pitch angle in rad</field> <field type="uint8_t" name="target_component">Component ID</field>
<field name="yaw" type="float">Yaw angle in rad</field> <field type="float" name="x">x position offset</field>
</message> <field type="float" name="y">y position offset</field>
<field type="float" name="z">z position offset</field>
<message name="VISION_SPEED_ESTIMATE" id="113"> <field type="float" name="yaw">yaw orientation offset in radians, 0 = NORTH</field>
<field name="usec" type="uint64_t">Timestamp (milliseconds)</field> </message>
<field name="x" type="float">Global X speed</field> <!-- Message sent by the MAV once it sets a new position as reference in the controller -->
<field name="y" type="float">Global Y speed</field> <message id="170" name="POSITION_CONTROL_SETPOINT">
<field name="z" type="float">Global Z speed</field> <field type="uint16_t" name="id">ID of waypoint, 0 for plain position</field>
</message> <field type="float" name="x">x position</field>
<field type="float" name="y">y position</field>
<message name="POSITION_CONTROL_SETPOINT_SET" id="120"> <field type="float" name="z">z position</field>
<description>Message sent to the MAV to set a new position as reference for the controller</description> <field type="float" name="yaw">yaw orientation in radians, 0 = NORTH</field>
<field name="target_system" type="uint8_t">System ID</field> </message>
<field name="target_component" type="uint8_t">Component ID</field> <message id="171" name="MARKER">
<field name="id" type="uint16_t">ID of waypoint, 0 for plain position</field> <field type="uint16_t" name="id">ID</field>
<field name="x" type="float">x position</field> <field type="float" name="x">x position</field>
<field name="y" type="float">y position</field> <field type="float" name="y">y position</field>
<field name="z" type="float">z position</field> <field type="float" name="z">z position</field>
<field name="yaw" type="float">yaw orientation in radians, 0 = NORTH</field> <field type="float" name="roll">roll orientation</field>
</message> <field type="float" name="pitch">pitch orientation</field>
<field type="float" name="yaw">yaw orientation</field>
<message name="POSITION_CONTROL_OFFSET_SET" id="154"> </message>
<description>Message sent to the MAV to set a new offset from the currently controlled position</description> <message id="172" name="RAW_AUX">
<field name="target_system" type="uint8_t">System ID</field> <field type="uint16_t" name="adc1">ADC1 (J405 ADC3, LPC2148 AD0.6)</field>
<field name="target_component" type="uint8_t">Component ID</field> <field type="uint16_t" name="adc2">ADC2 (J405 ADC5, LPC2148 AD0.2)</field>
<field name="x" type="float">x position offset</field> <field type="uint16_t" name="adc3">ADC3 (J405 ADC6, LPC2148 AD0.1)</field>
<field name="y" type="float">y position offset</field> <field type="uint16_t" name="adc4">ADC4 (J405 ADC7, LPC2148 AD1.3)</field>
<field name="z" type="float">z position offset</field> <field type="uint16_t" name="vbat">Battery voltage</field>
<field name="yaw" type="float">yaw orientation offset in radians, 0 = NORTH</field> <field type="int16_t" name="temp">Temperature (degrees celcius)</field>
</message> <field type="int32_t" name="baro">Barometric pressure (hecto Pascal)</field>
</message>
<!-- Message sent by the MAV once it sets a new position as reference in the controller --> <message id="180" name="WATCHDOG_HEARTBEAT">
<message name="POSITION_CONTROL_SETPOINT" id="121"> <field type="uint16_t" name="watchdog_id">Watchdog ID</field>
<field name="id" type="uint16_t">ID of waypoint, 0 for plain position</field> <field type="uint16_t" name="process_count">Number of processes</field>
<field name="x" type="float">x position</field> </message>
<field name="y" type="float">y position</field> <message id="181" name="WATCHDOG_PROCESS_INFO">
<field name="z" type="float">z position</field> <field type="uint16_t" name="watchdog_id">Watchdog ID</field>
<field name="yaw" type="float">yaw orientation in radians, 0 = NORTH</field> <field type="uint16_t" name="process_id">Process ID</field>
</message> <field type="char[100]" name="name">Process name</field>
<field type="char[147]" name="arguments">Process arguments</field>
<message name="MARKER" id="130"> <field type="int32_t" name="timeout">Timeout (seconds)</field>
<field name="id" type="uint16_t">ID</field> </message>
<field name="x" type="float">x position</field> <message id="182" name="WATCHDOG_PROCESS_STATUS">
<field name="y" type="float">y position</field> <field type="uint16_t" name="watchdog_id">Watchdog ID</field>
<field name="z" type="float">z position</field> <field type="uint16_t" name="process_id">Process ID</field>
<field name="roll" type="float">roll orientation</field> <field type="uint8_t" name="state">Is running / finished / suspended / crashed</field>
<field name="pitch" type="float">pitch orientation</field> <field type="uint8_t" name="muted">Is muted</field>
<field name="yaw" type="float">yaw orientation</field> <field type="int32_t" name="pid">PID</field>
</message> <field type="uint16_t" name="crashes">Number of crashes</field>
</message>
<message name="RAW_AUX" id="141"> <message id="183" name="WATCHDOG_COMMAND">
<field name="adc1" type="uint16_t">ADC1 (J405 ADC3, LPC2148 AD0.6)</field> <field type="uint8_t" name="target_system_id">Target system ID</field>
<field name="adc2" type="uint16_t">ADC2 (J405 ADC5, LPC2148 AD0.2)</field> <field type="uint16_t" name="watchdog_id">Watchdog ID</field>
<field name="adc3" type="uint16_t">ADC3 (J405 ADC6, LPC2148 AD0.1)</field> <field type="uint16_t" name="process_id">Process ID</field>
<field name="adc4" type="uint16_t">ADC4 (J405 ADC7, LPC2148 AD1.3)</field> <field type="uint8_t" name="command_id">Command ID</field>
<field name="vbat" type="uint16_t">Battery voltage</field> </message>
<field name="temp" type="int16_t">Temperature (degrees celcius)</field> <message id="190" name="PATTERN_DETECTED">
<field name="baro" type="int32_t">Barometric pressure (hecto Pascal)</field> <field type="uint8_t" name="type">0: Pattern, 1: Letter</field>
</message> <field type="float" name="confidence">Confidence of detection</field>
<field type="char[100]" name="file">Pattern file name</field>
<message name="AUX_STATUS" id="142"> <field type="uint8_t" name="detected">Accepted as true detection, 0 no, 1 yes</field>
<field name="load" type="uint16_t">Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000</field> </message>
<field name="i2c0_err_count" type="uint16_t">Number of I2C errors since startup</field> <message id="191" name="POINT_OF_INTEREST">
<field name="i2c1_err_count" type="uint16_t">Number of I2C errors since startup</field> <description>Notifies the operator about a point of interest (POI). This can be anything detected by the
<field name="spi0_err_count" type="uint16_t">Number of I2C errors since startup</field>
<field name="spi1_err_count" type="uint16_t">Number of I2C errors since startup</field>
<field name="uart_total_err_count" type="uint16_t">Number of I2C errors since startup</field>
</message>
<message name="WATCHDOG_HEARTBEAT" id="150">
<field name="watchdog_id" type="uint16_t">Watchdog ID</field>
<field name="process_count" type="uint16_t">Number of processes</field>
</message>
<message name="WATCHDOG_PROCESS_INFO" id="151">
<field name="watchdog_id" type="uint16_t">Watchdog ID</field>
<field name="process_id" type="uint16_t">Process ID</field>
<field name="name" type="array[100]">Process name</field>
<field name="arguments" type="array[147]">Process arguments</field>
<field name="timeout" type="int32_t">Timeout (seconds)</field>
</message>
<message name="WATCHDOG_PROCESS_STATUS" id="152">
<field name="watchdog_id" type="uint16_t">Watchdog ID</field>
<field name="process_id" type="uint16_t">Process ID</field>
<field name="state" type="uint8_t">Is running / finished / suspended / crashed</field>
<field name="muted" type="uint8_t">Is muted</field>
<field name="pid" type="int32_t">PID</field>
<field name="crashes" type="uint16_t">Number of crashes</field>
</message>
<message name="WATCHDOG_COMMAND" id="153">
<field name="target_system_id" type="uint8_t">Target system ID</field>
<field name="watchdog_id" type="uint16_t">Watchdog ID</field>
<field name="process_id" type="uint16_t">Process ID</field>
<field name="command_id" type="uint8_t">Command ID</field>
</message>
<message name="PATTERN_DETECTED" id="160">
<field name="type" type="uint8_t">0: Pattern, 1: Letter</field>
<field name="confidence" type="float">Confidence of detection</field>
<field name="file" type="array[100]">Pattern file name</field>
<field name="detected" type="uint8_t">Accepted as true detection, 0 no, 1 yes</field>
</message>
<message name="POINT_OF_INTEREST" id="161">
<description>Notifies the operator about a point of interest (POI). This can be anything detected by the
system. This generic message is intented to help interfacing to generic visualizations and to display system. This generic message is intented to help interfacing to generic visualizations and to display
the POI on a map. the POI on a map.
</description> </description>
<field name="type" type="uint8_t">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field> <field type="uint8_t" name="type">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field>
<field name="color" type="uint8_t">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field> <field type="uint8_t" name="color">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field>
<field name="coordinate_system" type="uint8_t">0: global, 1:local</field> <field type="uint8_t" name="coordinate_system">0: global, 1:local</field>
<field name="timeout" type="uint16_t">0: no timeout, >1: timeout in seconds</field> <field type="uint16_t" name="timeout">0: no timeout, >1: timeout in seconds</field>
<field name="x" type="float">X Position</field> <field type="float" name="x">X Position</field>
<field name="y" type="float">Y Position</field> <field type="float" name="y">Y Position</field>
<field name="z" type="float">Z Position</field> <field type="float" name="z">Z Position</field>
<field name="name" type="array[25]">POI name</field> <field type="char[26]" name="name">POI name</field>
</message> </message>
<message id="192" name="POINT_OF_INTEREST_CONNECTION">
<message name="POINT_OF_INTEREST_CONNECTION" id="162"> <description>Notifies the operator about the connection of two point of interests (POI). This can be anything detected by the
<description>Notifies the operator about the connection of two point of interests (POI). This can be anything detected by the
system. This generic message is intented to help interfacing to generic visualizations and to display system. This generic message is intented to help interfacing to generic visualizations and to display
the POI on a map. the POI on a map.
</description> </description>
<field name="type" type="uint8_t">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field> <field type="uint8_t" name="type">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field>
<field name="color" type="uint8_t">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field> <field type="uint8_t" name="color">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field>
<field name="coordinate_system" type="uint8_t">0: global, 1:local</field> <field type="uint8_t" name="coordinate_system">0: global, 1:local</field>
<field name="timeout" type="uint16_t">0: no timeout, >1: timeout in seconds</field> <field type="uint16_t" name="timeout">0: no timeout, >1: timeout in seconds</field>
<field name="xp1" type="float">X1 Position</field> <field type="float" name="xp1">X1 Position</field>
<field name="yp1" type="float">Y1 Position</field> <field type="float" name="yp1">Y1 Position</field>
<field name="zp1" type="float">Z1 Position</field> <field type="float" name="zp1">Z1 Position</field>
<field name="xp2" type="float">X2 Position</field> <field type="float" name="xp2">X2 Position</field>
<field name="yp2" type="float">Y2 Position</field> <field type="float" name="yp2">Y2 Position</field>
<field name="zp2" type="float">Z2 Position</field> <field type="float" name="zp2">Z2 Position</field>
<field name="name" type="array[25]">POI connection name</field> <field type="char[26]" name="name">POI connection name</field>
</message> </message>
<message id="193" name="DATA_TRANSMISSION_HANDSHAKE">
<message name="DATA_TRANSMISSION_HANDSHAKE" id="170"> <field type="uint8_t" name="type">type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)</field>
<field name="type" type="uint8_t">type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)</field> <field type="uint32_t" name="size">total data size in bytes (set on ACK only)</field>
<field name="size" type="uint32_t">total data size in bytes (set on ACK only)</field> <field type="uint8_t" name="packets">number of packets beeing sent (set on ACK only)</field>
<field name="packets" type="uint8_t">number of packets beeing sent (set on ACK only)</field> <field type="uint8_t" name="payload">payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)</field>
<field name="payload" type="uint8_t">payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)</field> <field type="uint8_t" name="jpg_quality">JPEG quality out of [1,100]</field>
<field name="jpg_quality" type="uint8_t">JPEG quality out of [1,100]</field> </message>
</message> <message id="194" name="ENCAPSULATED_DATA">
<field type="uint16_t" name="seqnr">sequence number (starting with 0 on every transmission)</field>
<message name="ENCAPSULATED_DATA" id="171"> <field type="uint8_t[253]" name="data">image data bytes</field>
<field name="seqnr" type="uint16_t">sequence number (starting with 0 on every transmission)</field> </message>
<field name="data" type="uint8_t[253]">image data bytes</field> <message id="195" name="BRIEF_FEATURE">
</message> <field type="float" name="x">x position in m</field>
<field type="float" name="y">y position in m</field>
<message name="BRIEF_FEATURE" id="172"> <field type="float" name="z">z position in m</field>
<field name="x" type="float">x position in m</field> <field type="uint8_t" name="orientation_assignment">Orientation assignment 0: false, 1:true</field>
<field name="y" type="float">y position in m</field> <field type="uint16_t" name="size">Size in pixels</field>
<field name="z" type="float">z position in m</field> <field type="uint16_t" name="orientation">Orientation</field>
<field name="orientation_assignment" type="uint8_t">Orientation assignment 0: false, 1:true</field> <field type="uint8_t[32]" name="descriptor">Descriptor</field>
<field name="size" type="uint16_t">Size in pixels</field> <field type="float" name="response">Harris operator response at this location</field>
<field name="orientation" type="uint16_t">Orientation</field> </message>
<field name="descriptor" type="uint8_t[32]">Descriptor</field> <message id="200" name="ATTITUDE_CONTROL">
<field name="response" type="float">Harris operator response at this location</field> <field type="uint8_t" name="target">The system to be controlled</field>
</message> <field type="float" name="roll">roll</field>
<field type="float" name="pitch">pitch</field>
</messages> <field type="float" name="yaw">yaw</field>
<field type="float" name="thrust">thrust</field>
<field type="uint8_t" name="roll_manual">roll control enabled auto:0, manual:1</field>
<field type="uint8_t" name="pitch_manual">pitch auto:0, manual:1</field>
<field type="uint8_t" name="yaw_manual">yaw auto:0, manual:1</field>
<field type="uint8_t" name="thrust_manual">thrust auto:0, manual:1</field>
</message>
</messages>
</mavlink> </mavlink>