mirror of https://github.com/ArduPilot/ardupilot
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
parent
8b5731fcad
commit
f61aa4d68c
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@ -35,5 +35,11 @@
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<field type="int16_t" name="mag_ofs_z">magnetometer Z offset</field>
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</message>
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<message id="152" name="MEMINFO">
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<description>state of APM memory</description>
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<field type="uint16_t" name="brkval">heap top</field>
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<field type="uint16_t" name="freemem">free memory</field>
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</message>
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</messages>
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</mavlink>
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@ -261,22 +261,21 @@
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<param index="6">Empty</param>
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<param index="7">Empty</param>
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</entry>
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<entry value="201" name="MAV_CMD_DO_SET_ROI">
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<description>Sets the region of interest (ROI) for a sensor set or the
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<entry value="201" name="MAV_CMD_DO_SET_ROI">
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<description>Sets the region of interest (ROI) for a sensor set or the
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vehicle itself. This can then be used by the vehicles control
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system to control the vehicle attitude and the attitude of various
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devices such as cameras.
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</description>
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<param index="1">Region of interest mode. (see MAV_ROI enum)</param>
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<param index="2">Waypoint index/ target ID. (see MAV_ROI enum)</param>
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<param index="3">ROI index (allows a vehicle to manage multiple cameras etc.)</param>
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<param index="4">Empty</param>
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<param index="5">x the location of the fixed ROI (see MAV_FRAME)</param>
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<param index="6">y</param>
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<param index="7">z</param>
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</entry>
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<entry value="240" name="MAV_CMD_DO_LAST">
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<param index="1">Region of interest mode. (see MAV_ROI enum)</param>
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<param index="2">Waypoint index/ target ID. (see MAV_ROI enum)</param>
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<param index="3">ROI index (allows a vehicle to manage multiple cameras etc.)</param>
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<param index="4">Empty</param>
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<param index="5">x the location of the fixed ROI (see MAV_FRAME)</param>
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<param index="6">y</param>
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<param index="7">z</param>
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</entry>
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<entry value="240" name="MAV_CMD_DO_LAST">
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<description>NOP - This command is only used to mark the upper limit of the DO commands in the enumeration</description>
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<param index="1">Empty</param>
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<param index="2">Empty</param>
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@ -340,28 +339,28 @@
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<description>Dependent on the autopilot</description>
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</entry>
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</enum>
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<enum name="MAV_ROI">
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<description> The ROI (region of interest) for the vehicle. This can be
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<enum name="MAV_ROI">
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<description> The ROI (region of interest) for the vehicle. This can be
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be used by the vehicle for camera/vehicle attitude alignment (see
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MAV_CMD_NAV_ROI).
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</description>
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<entry value="0" name="MAV_ROI_NONE">
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<description>No region of interest.</description>
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</entry>
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<entry value="1" name="MAV_ROI_WPNEXT">
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<description>Point toward next waypoint.</description>
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</entry>
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<entry value="2" name="MAV_ROI_WPINDEX">
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<description>Point toward given waypoint.</description>
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</entry>
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<entry value="3" name="MAV_ROI_LOCATION">
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<description>Point toward fixed location.</description>
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</entry>
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<entry value="4" name="MAV_ROI_TARGET">
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<description>Point toward of given id.</description>
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</entry>
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</enum>
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</enums>
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<entry value="0" name="MAV_ROI_NONE">
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<description>No region of interest.</description>
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</entry>
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<entry value="1" name="MAV_ROI_WPNEXT">
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<description>Point toward next waypoint.</description>
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</entry>
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<entry value="2" name="MAV_ROI_WPINDEX">
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<description>Point toward given waypoint.</description>
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</entry>
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<entry value="3" name="MAV_ROI_LOCATION">
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<description>Point toward fixed location.</description>
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</entry>
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<entry value="4" name="MAV_ROI_TARGET">
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<description>Point toward of given id.</description>
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</entry>
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</enum>
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</enums>
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<messages>
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<message id="0" name="HEARTBEAT">
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<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>
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@ -746,7 +745,7 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se
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</message>
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<message id="57" name="ROLL_PITCH_YAW_THRUST_SETPOINT">
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<description>Setpoint in roll, pitch, yaw currently active on the system.</description>
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<field type="uint32_t" name="time_ms">Timestamp in milliseconds since system boot</field>
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<field type="uint64_t" name="time_us">Timestamp in micro seconds since unix epoch</field>
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<field type="float" name="roll">Desired roll angle in radians</field>
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<field type="float" name="pitch">Desired pitch angle in radians</field>
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<field type="float" name="yaw">Desired yaw angle in radians</field>
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@ -754,7 +753,7 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se
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</message>
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<message id="58" name="ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT">
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<description>Setpoint in rollspeed, pitchspeed, yawspeed currently active on the system.</description>
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<field type="uint32_t" name="time_ms">Timestamp in milliseconds since system boot</field>
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<field type="uint64_t" name="time_us">Timestamp in micro seconds since unix epoch</field>
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<field type="float" name="roll_speed">Desired roll angular speed in rad/s</field>
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<field type="float" name="pitch_speed">Desired pitch angular speed in rad/s</field>
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<field type="float" name="yaw_speed">Desired yaw angular speed in rad/s</field>
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@ -802,38 +801,38 @@ of the controller before actual flight and to assist with tuning controller para
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<field type="uint16_t" name="req_message_rate">Update rate in Hertz</field>
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<field type="uint8_t" name="start_stop">1 to start sending, 0 to stop sending.</field>
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</message>
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<message id="67" name="HIL_STATE">
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<description>This packet is useful for high throughput
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<message id="67" name="HIL_STATE">
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<description>This packet is useful for high throughput
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applications such as hardware in the loop simulations.
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</description>
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<field type="uint64_t" name="usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
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<field type="float" name="roll">Roll angle (rad)</field>
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<field type="float" name="pitch">Pitch angle (rad)</field>
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<field type="float" name="yaw">Yaw angle (rad)</field>
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<field type="float" name="rollspeed">Roll angular speed (rad/s)</field>
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<field type="float" name="pitchspeed">Pitch angular speed (rad/s)</field>
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<field type="float" name="yawspeed">Yaw angular speed (rad/s)</field>
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<field type="int32_t" name="lat">Latitude, expressed as * 1E7</field>
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<field type="int32_t" name="lon">Longitude, expressed as * 1E7</field>
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<field type="int32_t" name="alt">Altitude in meters, expressed as * 1000 (millimeters)</field>
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<field type="int16_t" name="vx">Ground X Speed (Latitude), expressed as m/s * 100</field>
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<field type="int16_t" name="vy">Ground Y Speed (Longitude), expressed as m/s * 100</field>
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<field type="int16_t" name="vz">Ground Z Speed (Altitude), expressed as m/s * 100</field>
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<field type="int16_t" name="xacc">X acceleration (mg)</field>
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<field type="int16_t" name="yacc">Y acceleration (mg)</field>
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<field type="int16_t" name="zacc">Z acceleration (mg)</field>
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</message>
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<message id="68" name="HIL_CONTROLS">
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<description>Hardware in the loop control outputs</description>
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<field name="time_us" type="uint64_t">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
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<field name="roll_ailerons" type="float">Control output -3 .. 1</field>
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<field name="pitch_elevator" type="float">Control output -1 .. 1</field>
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<field name="yaw_rudder" type="float">Control output -1 .. 1</field>
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<field name="throttle" type="float">Throttle 0 .. 1</field>
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<field name="mode" type="uint8_t">System mode (MAV_MODE)</field>
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<field name="nav_mode" type="uint8_t">Navigation mode (MAV_NAV_MODE)</field>
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</message>
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<message id="69" name="MANUAL_CONTROL">
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<field type="uint64_t" name="usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
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<field type="float" name="roll">Roll angle (rad)</field>
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<field type="float" name="pitch">Pitch angle (rad)</field>
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<field type="float" name="yaw">Yaw angle (rad)</field>
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<field type="float" name="rollspeed">Roll angular speed (rad/s)</field>
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<field type="float" name="pitchspeed">Pitch angular speed (rad/s)</field>
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<field type="float" name="yawspeed">Yaw angular speed (rad/s)</field>
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<field type="int32_t" name="lat">Latitude, expressed as * 1E7</field>
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<field type="int32_t" name="lon">Longitude, expressed as * 1E7</field>
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<field type="int32_t" name="alt">Altitude in meters, expressed as * 1000 (millimeters)</field>
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<field type="int16_t" name="vx">Ground X Speed (Latitude), expressed as m/s * 100</field>
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<field type="int16_t" name="vy">Ground Y Speed (Longitude), expressed as m/s * 100</field>
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<field type="int16_t" name="vz">Ground Z Speed (Altitude), expressed as m/s * 100</field>
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<field type="int16_t" name="xacc">X acceleration (mg)</field>
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<field type="int16_t" name="yacc">Y acceleration (mg)</field>
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<field type="int16_t" name="zacc">Z acceleration (mg)</field>
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</message>
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<message id="68" name="HIL_CONTROLS">
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<description>Hardware in the loop control outputs</description>
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<field type="uint64_t" name="time_us">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
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<field type="float" name="roll_ailerons">Control output -3 .. 1</field>
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<field type="float" name="pitch_elevator">Control output -1 .. 1</field>
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<field type="float" name="yaw_rudder">Control output -1 .. 1</field>
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<field type="float" name="throttle">Throttle 0 .. 1</field>
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<field type="uint8_t" name="mode">System mode (MAV_MODE)</field>
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<field type="uint8_t" name="nav_mode">Navigation mode (MAV_NAV_MODE)</field>
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</message>
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<message id="69" name="MANUAL_CONTROL">
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<field type="uint8_t" name="target">The system to be controlled</field>
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<field type="float" name="roll">roll</field>
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<field type="float" name="pitch">pitch</field>
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@ -891,6 +890,25 @@ of the controller before actual flight and to assist with tuning controller para
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<field type="float" name="command">Current airspeed in m/s</field>
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<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>
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</message>
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<message id="100" name="OPTICAL_FLOW">
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<description>Optical flow from a flow sensor (e.g. optical mouse sensor)</description>
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<field type="uint64_t" name="time">Timestamp (UNIX)</field>
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<field type="uint8_t" name="sensor_id">Sensor ID</field>
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<field type="int16_t" name="flow_x">Flow in pixels in x-sensor direction</field>
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<field type="int16_t" name="flow_y">Flow in pixels in y-sensor direction</field>
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<field type="uint8_t" name="quality">Optical flow quality / confidence. 0: bad, 255: maximum quality</field>
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<field type="float" name="ground_distance">Ground distance in meters</field>
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</message>
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<message id="140" name="OBJECT_DETECTION_EVENT">
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<description>Object has been detected</description>
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<field type="uint32_t" name="time">Timestamp in milliseconds since system boot</field>
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<field type="uint16_t" name="object_id">Object ID</field>
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<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>
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<field type="char[20]" name="name">Name of the object as defined by the detector</field>
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<field type="uint8_t" name="quality">Detection quality / confidence. 0: bad, 255: maximum confidence</field>
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<field type="float" name="bearing">Angle of the object with respect to the body frame in NED coordinates in radians. 0: front</field>
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<field type="float" name="distance">Ground distance in meters</field>
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</message>
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<!-- MESSAGE IDs 80 - 250: Space for custom messages in individual projectname_messages.xml files -->
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<message id="251" name="DEBUG_VECT">
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<field type="char[10]" name="name">Name</field>
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@ -1,264 +1,227 @@
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<?xml version="1.0"?>
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<?xml version='1.0'?>
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<mavlink>
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<include>common.xml</include>
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<enums>
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<enum name="DATA_TYPES">
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<description>Content Types for data transmission handshake</description>
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<entry name = "DATA_TYPE_JPEG_IMAGE" value="1">
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</entry>
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<entry name = "DATA_TYPE_RAW_IMAGE" value="2">
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</entry>
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<entry name = "DATA_TYPE_KINECT" value="3">
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</entry>
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</enum>
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</enums>
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<messages>
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<message name="ATTITUDE_CONTROL" id="85">
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<field name="target" type="uint8_t">The system to be controlled</field>
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<field name="roll" type="float">roll</field>
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<field name="pitch" type="float">pitch</field>
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<field name="yaw" type="float">yaw</field>
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<field name="thrust" type="float">thrust</field>
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<field name="roll_manual" type="uint8_t">roll control enabled auto:0, manual:1</field>
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<field name="pitch_manual" type="uint8_t">pitch auto:0, manual:1</field>
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<field name="yaw_manual" type="uint8_t">yaw auto:0, manual:1</field>
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<field name="thrust_manual" type="uint8_t">thrust auto:0, manual:1</field>
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</message>
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<message name="SET_CAM_SHUTTER" id="100">
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<field name="cam_no" type="uint8_t">Camera id</field>
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<field name="cam_mode" type="uint8_t">Camera mode: 0 = auto, 1 = manual</field>
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<field name="trigger_pin" type="uint8_t">Trigger pin, 0-3 for PtGrey FireFly</field>
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<field name="interval" type="uint16_t">Shutter interval, in microseconds</field>
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<field name="exposure" type="uint16_t">Exposure time, in microseconds</field>
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<field name="gain" type="float">Camera gain</field>
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</message>
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<message name="IMAGE_TRIGGERED" id="101">
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<field name="timestamp" type="uint64_t">Timestamp</field>
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<field name="seq" type="uint32_t">IMU seq</field>
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<field name="roll" type="float">Roll angle in rad</field>
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<field name="pitch" type="float">Pitch angle in rad</field>
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<field name="yaw" type="float">Yaw angle in rad</field>
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<field name="local_z" type="float">Local frame Z coordinate (height over ground)</field>
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<field name="lat" type="float">GPS X coordinate</field>
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<field name="lon" type="float">GPS Y coordinate</field>
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<field name="alt" type="float">Global frame altitude</field>
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<field name="ground_x" type="float">Ground truth X</field>
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<field name="ground_y" type="float">Ground truth Y</field>
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<field name="ground_z" type="float">Ground truth Z</field>
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</message>
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<message name="IMAGE_TRIGGER_CONTROL" id="102">
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<field name="enable" type="uint8_t">0 to disable, 1 to enable</field>
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</message>
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<message name="IMAGE_AVAILABLE" id="103">
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<field name="cam_id" type="uint64_t">Camera id</field>
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<field name="cam_no" type="uint8_t">Camera # (starts with 0)</field>
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<field name="timestamp" type="uint64_t">Timestamp</field>
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<field name="valid_until" type="uint64_t">Until which timestamp this buffer will stay valid</field>
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<field name="img_seq" type="uint32_t">The image sequence number</field>
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<field name="img_buf_index" type="uint32_t">Position of the image in the buffer, starts with 0</field>
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<field name="width" type="uint16_t">Image width</field>
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<field name="height" type="uint16_t">Image height</field>
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<field name="depth" type="uint16_t">Image depth</field>
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<field name="channels" type="uint8_t">Image channels</field>
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<field name="key" type="uint32_t">Shared memory area key</field>
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<field name="exposure" type="uint32_t">Exposure time, in microseconds</field>
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<field name="gain" type="float">Camera gain</field>
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<field name="roll" type="float">Roll angle in rad</field>
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<field name="pitch" type="float">Pitch angle in rad</field>
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<field name="yaw" type="float">Yaw angle in rad</field>
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<field name="local_z" type="float">Local frame Z coordinate (height over ground)</field>
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<field name="lat" type="float">GPS X coordinate</field>
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<field name="lon" type="float">GPS Y coordinate</field>
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<field name="alt" type="float">Global frame altitude</field>
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<field name="ground_x" type="float">Ground truth X</field>
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<field name="ground_y" type="float">Ground truth Y</field>
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<field name="ground_z" type="float">Ground truth Z</field>
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</message>
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<message name="VISION_POSITION_ESTIMATE" id="111">
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<field name="usec" type="uint64_t">Timestamp (milliseconds)</field>
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<field name="x" type="float">Global X position</field>
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<field name="y" type="float">Global Y position</field>
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<field name="z" type="float">Global Z position</field>
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<field name="roll" type="float">Roll angle in rad</field>
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<field name="pitch" type="float">Pitch angle in rad</field>
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<field name="yaw" type="float">Yaw angle in rad</field>
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</message>
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<message name="VICON_POSITION_ESTIMATE" id="112">
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<field name="usec" type="uint64_t">Timestamp (milliseconds)</field>
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<field name="x" type="float">Global X position</field>
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<field name="y" type="float">Global Y position</field>
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<field name="z" type="float">Global Z position</field>
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<field name="roll" type="float">Roll angle in rad</field>
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<field name="pitch" type="float">Pitch angle in rad</field>
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<field name="yaw" type="float">Yaw angle in rad</field>
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</message>
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<message name="VISION_SPEED_ESTIMATE" id="113">
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<field name="usec" type="uint64_t">Timestamp (milliseconds)</field>
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<field name="x" type="float">Global X speed</field>
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<field name="y" type="float">Global Y speed</field>
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<field name="z" type="float">Global Z speed</field>
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</message>
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<message name="POSITION_CONTROL_SETPOINT_SET" id="120">
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<description>Message sent to the MAV to set a new position as reference for the controller</description>
|
||||
<field name="target_system" type="uint8_t">System ID</field>
|
||||
<field name="target_component" type="uint8_t">Component ID</field>
|
||||
<field name="id" type="uint16_t">ID of waypoint, 0 for plain position</field>
|
||||
<field name="x" type="float">x position</field>
|
||||
<field name="y" type="float">y position</field>
|
||||
<field name="z" type="float">z position</field>
|
||||
<field name="yaw" type="float">yaw orientation in radians, 0 = NORTH</field>
|
||||
</message>
|
||||
|
||||
<message name="POSITION_CONTROL_OFFSET_SET" id="154">
|
||||
<description>Message sent to the MAV to set a new offset from the currently controlled position</description>
|
||||
<field name="target_system" type="uint8_t">System ID</field>
|
||||
<field name="target_component" type="uint8_t">Component ID</field>
|
||||
<field name="x" type="float">x position offset</field>
|
||||
<field name="y" type="float">y position offset</field>
|
||||
<field name="z" type="float">z position offset</field>
|
||||
<field name="yaw" type="float">yaw orientation offset in radians, 0 = NORTH</field>
|
||||
</message>
|
||||
|
||||
<!-- Message sent by the MAV once it sets a new position as reference in the controller -->
|
||||
<message name="POSITION_CONTROL_SETPOINT" id="121">
|
||||
<field name="id" type="uint16_t">ID of waypoint, 0 for plain position</field>
|
||||
<field name="x" type="float">x position</field>
|
||||
<field name="y" type="float">y position</field>
|
||||
<field name="z" type="float">z position</field>
|
||||
<field name="yaw" type="float">yaw orientation in radians, 0 = NORTH</field>
|
||||
</message>
|
||||
|
||||
<message name="MARKER" id="130">
|
||||
<field name="id" type="uint16_t">ID</field>
|
||||
<field name="x" type="float">x position</field>
|
||||
<field name="y" type="float">y position</field>
|
||||
<field name="z" type="float">z position</field>
|
||||
<field name="roll" type="float">roll orientation</field>
|
||||
<field name="pitch" type="float">pitch orientation</field>
|
||||
<field name="yaw" type="float">yaw orientation</field>
|
||||
</message>
|
||||
|
||||
<message name="RAW_AUX" id="141">
|
||||
<field name="adc1" type="uint16_t">ADC1 (J405 ADC3, LPC2148 AD0.6)</field>
|
||||
<field name="adc2" type="uint16_t">ADC2 (J405 ADC5, LPC2148 AD0.2)</field>
|
||||
<field name="adc3" type="uint16_t">ADC3 (J405 ADC6, LPC2148 AD0.1)</field>
|
||||
<field name="adc4" type="uint16_t">ADC4 (J405 ADC7, LPC2148 AD1.3)</field>
|
||||
<field name="vbat" type="uint16_t">Battery voltage</field>
|
||||
<field name="temp" type="int16_t">Temperature (degrees celcius)</field>
|
||||
<field name="baro" type="int32_t">Barometric pressure (hecto Pascal)</field>
|
||||
</message>
|
||||
|
||||
<message name="AUX_STATUS" id="142">
|
||||
<field name="load" type="uint16_t">Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000</field>
|
||||
<field name="i2c0_err_count" type="uint16_t">Number of I2C errors since startup</field>
|
||||
<field name="i2c1_err_count" type="uint16_t">Number of I2C errors since startup</field>
|
||||
<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
|
||||
<include>common.xml</include>
|
||||
<enums>
|
||||
<enum name="DATA_TYPES">
|
||||
<description>Content Types for data transmission handshake</description>
|
||||
<entry value="1" name="DATA_TYPE_JPEG_IMAGE"/>
|
||||
<entry value="2" name="DATA_TYPE_RAW_IMAGE"/>
|
||||
<entry value="3" name="DATA_TYPE_KINECT"/>
|
||||
</enum>
|
||||
</enums>
|
||||
<messages>
|
||||
<message id="151" name="SET_CAM_SHUTTER">
|
||||
<field type="uint8_t" name="cam_no">Camera id</field>
|
||||
<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>
|
||||
<field type="uint16_t" name="interval">Shutter interval, in microseconds</field>
|
||||
<field type="uint16_t" name="exposure">Exposure time, in microseconds</field>
|
||||
<field type="float" name="gain">Camera gain</field>
|
||||
</message>
|
||||
<message id="152" name="IMAGE_TRIGGERED">
|
||||
<field type="uint64_t" name="timestamp">Timestamp</field>
|
||||
<field type="uint32_t" name="seq">IMU seq</field>
|
||||
<field type="float" name="roll">Roll angle in rad</field>
|
||||
<field type="float" name="pitch">Pitch angle in rad</field>
|
||||
<field type="float" name="yaw">Yaw angle in rad</field>
|
||||
<field type="float" name="local_z">Local frame Z coordinate (height over ground)</field>
|
||||
<field type="float" name="lat">GPS X coordinate</field>
|
||||
<field type="float" name="lon">GPS Y coordinate</field>
|
||||
<field type="float" name="alt">Global frame altitude</field>
|
||||
<field type="float" name="ground_x">Ground truth X</field>
|
||||
<field type="float" name="ground_y">Ground truth Y</field>
|
||||
<field type="float" name="ground_z">Ground truth Z</field>
|
||||
</message>
|
||||
<message id="153" name="IMAGE_TRIGGER_CONTROL">
|
||||
<field type="uint8_t" name="enable">0 to disable, 1 to enable</field>
|
||||
</message>
|
||||
<message id="154" name="IMAGE_AVAILABLE">
|
||||
<field type="uint64_t" name="cam_id">Camera id</field>
|
||||
<field type="uint8_t" name="cam_no">Camera # (starts with 0)</field>
|
||||
<field type="uint64_t" name="timestamp">Timestamp</field>
|
||||
<field type="uint64_t" name="valid_until">Until which timestamp this buffer will stay valid</field>
|
||||
<field type="uint32_t" name="img_seq">The image sequence number</field>
|
||||
<field type="uint32_t" name="img_buf_index">Position of the image in the buffer, starts with 0</field>
|
||||
<field type="uint16_t" name="width">Image width</field>
|
||||
<field type="uint16_t" name="height">Image height</field>
|
||||
<field type="uint16_t" name="depth">Image depth</field>
|
||||
<field type="uint8_t" name="channels">Image channels</field>
|
||||
<field type="uint32_t" name="key">Shared memory area key</field>
|
||||
<field type="uint32_t" name="exposure">Exposure time, in microseconds</field>
|
||||
<field type="float" name="gain">Camera gain</field>
|
||||
<field type="float" name="roll">Roll angle in rad</field>
|
||||
<field type="float" name="pitch">Pitch angle in rad</field>
|
||||
<field type="float" name="yaw">Yaw angle in rad</field>
|
||||
<field type="float" name="local_z">Local frame Z coordinate (height over ground)</field>
|
||||
<field type="float" name="lat">GPS X coordinate</field>
|
||||
<field type="float" name="lon">GPS Y coordinate</field>
|
||||
<field type="float" name="alt">Global frame altitude</field>
|
||||
<field type="float" name="ground_x">Ground truth X</field>
|
||||
<field type="float" name="ground_y">Ground truth Y</field>
|
||||
<field type="float" name="ground_z">Ground truth Z</field>
|
||||
</message>
|
||||
<message id="156" name="VISION_POSITION_ESTIMATE">
|
||||
<field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
|
||||
<field type="float" name="x">Global X position</field>
|
||||
<field type="float" name="y">Global Y position</field>
|
||||
<field type="float" name="z">Global Z position</field>
|
||||
<field type="float" name="roll">Roll angle in rad</field>
|
||||
<field type="float" name="pitch">Pitch angle in rad</field>
|
||||
<field type="float" name="yaw">Yaw angle in rad</field>
|
||||
</message>
|
||||
<message id="157" name="VICON_POSITION_ESTIMATE">
|
||||
<field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
|
||||
<field type="float" name="x">Global X position</field>
|
||||
<field type="float" name="y">Global Y position</field>
|
||||
<field type="float" name="z">Global Z position</field>
|
||||
<field type="float" name="roll">Roll angle in rad</field>
|
||||
<field type="float" name="pitch">Pitch angle in rad</field>
|
||||
<field type="float" name="yaw">Yaw angle in rad</field>
|
||||
</message>
|
||||
<message id="158" name="VISION_SPEED_ESTIMATE">
|
||||
<field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
|
||||
<field type="float" name="x">Global X speed</field>
|
||||
<field type="float" name="y">Global Y speed</field>
|
||||
<field type="float" name="z">Global Z speed</field>
|
||||
</message>
|
||||
<message id="159" name="POSITION_CONTROL_SETPOINT_SET">
|
||||
<description>Message sent to the MAV to set a new position as reference for the controller</description>
|
||||
<field type="uint8_t" name="target_system">System ID</field>
|
||||
<field type="uint8_t" name="target_component">Component ID</field>
|
||||
<field type="uint16_t" name="id">ID of waypoint, 0 for plain position</field>
|
||||
<field type="float" name="x">x position</field>
|
||||
<field type="float" name="y">y position</field>
|
||||
<field type="float" name="z">z position</field>
|
||||
<field type="float" name="yaw">yaw orientation in radians, 0 = NORTH</field>
|
||||
</message>
|
||||
<message id="160" name="POSITION_CONTROL_OFFSET_SET">
|
||||
<description>Message sent to the MAV to set a new offset from the currently controlled position</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="x">x position offset</field>
|
||||
<field type="float" name="y">y position offset</field>
|
||||
<field type="float" name="z">z position offset</field>
|
||||
<field type="float" name="yaw">yaw orientation offset in radians, 0 = NORTH</field>
|
||||
</message>
|
||||
<!-- Message sent by the MAV once it sets a new position as reference in the controller -->
|
||||
<message id="170" name="POSITION_CONTROL_SETPOINT">
|
||||
<field type="uint16_t" name="id">ID of waypoint, 0 for plain position</field>
|
||||
<field type="float" name="x">x position</field>
|
||||
<field type="float" name="y">y position</field>
|
||||
<field type="float" name="z">z position</field>
|
||||
<field type="float" name="yaw">yaw orientation in radians, 0 = NORTH</field>
|
||||
</message>
|
||||
<message id="171" name="MARKER">
|
||||
<field type="uint16_t" name="id">ID</field>
|
||||
<field type="float" name="x">x position</field>
|
||||
<field type="float" name="y">y position</field>
|
||||
<field type="float" name="z">z position</field>
|
||||
<field type="float" name="roll">roll orientation</field>
|
||||
<field type="float" name="pitch">pitch orientation</field>
|
||||
<field type="float" name="yaw">yaw orientation</field>
|
||||
</message>
|
||||
<message id="172" name="RAW_AUX">
|
||||
<field type="uint16_t" name="adc1">ADC1 (J405 ADC3, LPC2148 AD0.6)</field>
|
||||
<field type="uint16_t" name="adc2">ADC2 (J405 ADC5, LPC2148 AD0.2)</field>
|
||||
<field type="uint16_t" name="adc3">ADC3 (J405 ADC6, LPC2148 AD0.1)</field>
|
||||
<field type="uint16_t" name="adc4">ADC4 (J405 ADC7, LPC2148 AD1.3)</field>
|
||||
<field type="uint16_t" name="vbat">Battery voltage</field>
|
||||
<field type="int16_t" name="temp">Temperature (degrees celcius)</field>
|
||||
<field type="int32_t" name="baro">Barometric pressure (hecto Pascal)</field>
|
||||
</message>
|
||||
<message id="180" name="WATCHDOG_HEARTBEAT">
|
||||
<field type="uint16_t" name="watchdog_id">Watchdog ID</field>
|
||||
<field type="uint16_t" name="process_count">Number of processes</field>
|
||||
</message>
|
||||
<message id="181" name="WATCHDOG_PROCESS_INFO">
|
||||
<field type="uint16_t" name="watchdog_id">Watchdog ID</field>
|
||||
<field type="uint16_t" name="process_id">Process ID</field>
|
||||
<field type="char[100]" name="name">Process name</field>
|
||||
<field type="char[147]" name="arguments">Process arguments</field>
|
||||
<field type="int32_t" name="timeout">Timeout (seconds)</field>
|
||||
</message>
|
||||
<message id="182" name="WATCHDOG_PROCESS_STATUS">
|
||||
<field type="uint16_t" name="watchdog_id">Watchdog ID</field>
|
||||
<field type="uint16_t" name="process_id">Process ID</field>
|
||||
<field type="uint8_t" name="state">Is running / finished / suspended / crashed</field>
|
||||
<field type="uint8_t" name="muted">Is muted</field>
|
||||
<field type="int32_t" name="pid">PID</field>
|
||||
<field type="uint16_t" name="crashes">Number of crashes</field>
|
||||
</message>
|
||||
<message id="183" name="WATCHDOG_COMMAND">
|
||||
<field type="uint8_t" name="target_system_id">Target system ID</field>
|
||||
<field type="uint16_t" name="watchdog_id">Watchdog ID</field>
|
||||
<field type="uint16_t" name="process_id">Process ID</field>
|
||||
<field type="uint8_t" name="command_id">Command ID</field>
|
||||
</message>
|
||||
<message id="190" name="PATTERN_DETECTED">
|
||||
<field type="uint8_t" name="type">0: Pattern, 1: Letter</field>
|
||||
<field type="float" name="confidence">Confidence of detection</field>
|
||||
<field type="char[100]" name="file">Pattern file name</field>
|
||||
<field type="uint8_t" name="detected">Accepted as true detection, 0 no, 1 yes</field>
|
||||
</message>
|
||||
<message id="191" name="POINT_OF_INTEREST">
|
||||
<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
|
||||
the POI on a map.
|
||||
</description>
|
||||
<field name="type" type="uint8_t">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 name="coordinate_system" type="uint8_t">0: global, 1:local</field>
|
||||
<field name="timeout" type="uint16_t">0: no timeout, >1: timeout in seconds</field>
|
||||
<field name="x" type="float">X Position</field>
|
||||
<field name="y" type="float">Y Position</field>
|
||||
<field name="z" type="float">Z Position</field>
|
||||
<field name="name" type="array[25]">POI name</field>
|
||||
</message>
|
||||
|
||||
<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
|
||||
<field type="uint8_t" name="type">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field>
|
||||
<field type="uint8_t" name="color">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field>
|
||||
<field type="uint8_t" name="coordinate_system">0: global, 1:local</field>
|
||||
<field type="uint16_t" name="timeout">0: no timeout, >1: timeout in seconds</field>
|
||||
<field type="float" name="x">X Position</field>
|
||||
<field type="float" name="y">Y Position</field>
|
||||
<field type="float" name="z">Z Position</field>
|
||||
<field type="char[26]" name="name">POI name</field>
|
||||
</message>
|
||||
<message id="192" name="POINT_OF_INTEREST_CONNECTION">
|
||||
<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
|
||||
the POI on a map.
|
||||
</description>
|
||||
<field name="type" type="uint8_t">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 name="coordinate_system" type="uint8_t">0: global, 1:local</field>
|
||||
<field name="timeout" type="uint16_t">0: no timeout, >1: timeout in seconds</field>
|
||||
<field name="xp1" type="float">X1 Position</field>
|
||||
<field name="yp1" type="float">Y1 Position</field>
|
||||
<field name="zp1" type="float">Z1 Position</field>
|
||||
<field name="xp2" type="float">X2 Position</field>
|
||||
<field name="yp2" type="float">Y2 Position</field>
|
||||
<field name="zp2" type="float">Z2 Position</field>
|
||||
<field name="name" type="array[25]">POI connection name</field>
|
||||
</message>
|
||||
|
||||
<message name="DATA_TRANSMISSION_HANDSHAKE" id="170">
|
||||
<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 name="size" type="uint32_t">total data size in bytes (set on ACK only)</field>
|
||||
<field name="packets" type="uint8_t">number of packets beeing sent (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 name="jpg_quality" type="uint8_t">JPEG quality out of [1,100]</field>
|
||||
</message>
|
||||
|
||||
<message name="ENCAPSULATED_DATA" id="171">
|
||||
<field name="seqnr" type="uint16_t">sequence number (starting with 0 on every transmission)</field>
|
||||
<field name="data" type="uint8_t[253]">image data bytes</field>
|
||||
</message>
|
||||
|
||||
<message name="BRIEF_FEATURE" id="172">
|
||||
<field name="x" type="float">x position in m</field>
|
||||
<field name="y" type="float">y position in m</field>
|
||||
<field name="z" type="float">z position in m</field>
|
||||
<field name="orientation_assignment" type="uint8_t">Orientation assignment 0: false, 1:true</field>
|
||||
<field name="size" type="uint16_t">Size in pixels</field>
|
||||
<field name="orientation" type="uint16_t">Orientation</field>
|
||||
<field name="descriptor" type="uint8_t[32]">Descriptor</field>
|
||||
<field name="response" type="float">Harris operator response at this location</field>
|
||||
</message>
|
||||
|
||||
</messages>
|
||||
<field type="uint8_t" name="type">0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug</field>
|
||||
<field type="uint8_t" name="color">0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta</field>
|
||||
<field type="uint8_t" name="coordinate_system">0: global, 1:local</field>
|
||||
<field type="uint16_t" name="timeout">0: no timeout, >1: timeout in seconds</field>
|
||||
<field type="float" name="xp1">X1 Position</field>
|
||||
<field type="float" name="yp1">Y1 Position</field>
|
||||
<field type="float" name="zp1">Z1 Position</field>
|
||||
<field type="float" name="xp2">X2 Position</field>
|
||||
<field type="float" name="yp2">Y2 Position</field>
|
||||
<field type="float" name="zp2">Z2 Position</field>
|
||||
<field type="char[26]" name="name">POI connection name</field>
|
||||
</message>
|
||||
<message id="193" name="DATA_TRANSMISSION_HANDSHAKE">
|
||||
<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 type="uint32_t" name="size">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 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 type="uint8_t" name="jpg_quality">JPEG quality out of [1,100]</field>
|
||||
</message>
|
||||
<message id="194" name="ENCAPSULATED_DATA">
|
||||
<field type="uint16_t" name="seqnr">sequence number (starting with 0 on every transmission)</field>
|
||||
<field type="uint8_t[253]" name="data">image data bytes</field>
|
||||
</message>
|
||||
<message id="195" name="BRIEF_FEATURE">
|
||||
<field type="float" name="x">x position in m</field>
|
||||
<field type="float" name="y">y position in m</field>
|
||||
<field type="float" name="z">z position in m</field>
|
||||
<field type="uint8_t" name="orientation_assignment">Orientation assignment 0: false, 1:true</field>
|
||||
<field type="uint16_t" name="size">Size in pixels</field>
|
||||
<field type="uint16_t" name="orientation">Orientation</field>
|
||||
<field type="uint8_t[32]" name="descriptor">Descriptor</field>
|
||||
<field type="float" name="response">Harris operator response at this location</field>
|
||||
</message>
|
||||
<message id="200" name="ATTITUDE_CONTROL">
|
||||
<field type="uint8_t" name="target">The system to be controlled</field>
|
||||
<field type="float" name="roll">roll</field>
|
||||
<field type="float" name="pitch">pitch</field>
|
||||
<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>
|
||||
|
|
|
|||
Loading…
Reference in New Issue