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MAVLink: update to latest upstream message defintions XML 

this adds new HIL support for airspeed, and common SIM_STATE and
RADIO_STATUS messages
This commit is contained in:
Andrew Tridgell 2013-07-01 15:38:45 +10:00
parent a9a192a0fd
commit fff777bda2
2 changed files with 78 additions and 27 deletions
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24
libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
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@ -311,19 +311,19 @@
<field type="float" name="speed_z">vertical wind speed (m/s)</field> <field type="float" name="speed_z">vertical wind speed (m/s)</field>
</message> </message>
<message name="DATA16" id="169"> <message name="DATA16" id="169">
<description>Data packet, size 16</description> <description>Data packet, size 16</description>
<field type="uint8_t" name="type">data type</field> <field type="uint8_t" name="type">data type</field>
<field type="uint8_t" name="len">data length</field> <field type="uint8_t" name="len">data length</field>
<field type="uint8_t[16]" name="data">raw data</field> <field type="uint8_t[16]" name="data">raw data</field>
</message> </message>
<message name="DATA32" id="170"> <message name="DATA32" id="170">
<description>Data packet, size 32</description> <description>Data packet, size 32</description>
<field type="uint8_t" name="type">data type</field> <field type="uint8_t" name="type">data type</field>
<field type="uint8_t" name="len">data length</field> <field type="uint8_t" name="len">data length</field>
<field type="uint8_t[32]" name="data">raw data</field> <field type="uint8_t[32]" name="data">raw data</field>
</message> </message>
<message name="DATA64" id="171"> <message name="DATA64" id="171">
<description>Data packet, size 64</description> <description>Data packet, size 64</description>

81
libraries/GCS_MAVLink/message_definitions/common.xml
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@ -982,9 +982,9 @@
NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame).</description> NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame).</description>
<field type="uint64_t" name="time_usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field> <field type="uint64_t" name="time_usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
<field type="uint8_t" name="fix_type">0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.</field> <field type="uint8_t" name="fix_type">0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.</field>
<field type="int32_t" name="lat">Latitude in 1E7 degrees</field> <field type="int32_t" name="lat">Latitude (WGS84), in degrees * 1E7</field>
<field type="int32_t" name="lon">Longitude in 1E7 degrees</field> <field type="int32_t" name="lon">Longitude (WGS84), in degrees * 1E7</field>
<field type="int32_t" name="alt">Altitude in 1E3 meters (millimeters) above MSL</field> <field type="int32_t" name="alt">Altitude (WGS84), in meters * 1000 (positive for up)</field>
<field type="uint16_t" name="eph">GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535</field> <field type="uint16_t" name="eph">GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535</field>
<field type="uint16_t" name="epv">GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535</field> <field type="uint16_t" name="epv">GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535</field>
<field type="uint16_t" name="vel">GPS ground speed (m/s * 100). If unknown, set to: 65535</field> <field type="uint16_t" name="vel">GPS ground speed (m/s * 100). If unknown, set to: 65535</field>
@ -1203,15 +1203,15 @@
<message id="48" name="SET_GPS_GLOBAL_ORIGIN"> <message id="48" name="SET_GPS_GLOBAL_ORIGIN">
<description>As local waypoints exist, the global MISSION reference allows to transform between the local coordinate frame and the global (GPS) coordinate frame. This can be necessary when e.g. in- and outdoor settings are connected and the MAV should move from in- to outdoor.</description> <description>As local waypoints exist, the global MISSION reference allows to transform between the local coordinate frame and the global (GPS) coordinate frame. This can be necessary when e.g. in- and outdoor settings are connected and the MAV should move from in- to outdoor.</description>
<field type="uint8_t" name="target_system">System ID</field> <field type="uint8_t" name="target_system">System ID</field>
<field type="int32_t" name="latitude">global position * 1E7</field> <field type="int32_t" name="latitude">Latitude (WGS84), in degrees * 1E7</field>
<field type="int32_t" name="longitude">global position * 1E7</field> <field type="int32_t" name="longitude">Longitude (WGS84, in degrees * 1E7</field>
<field type="int32_t" name="altitude">global position * 1000</field> <field type="int32_t" name="altitude">Altitude (WGS84), in meters * 1000 (positive for up)</field>
</message> </message>
<message id="49" name="GPS_GLOBAL_ORIGIN"> <message id="49" name="GPS_GLOBAL_ORIGIN">
<description>Once the MAV sets a new GPS-Local correspondence, this message announces the origin (0,0,0) position</description> <description>Once the MAV sets a new GPS-Local correspondence, this message announces the origin (0,0,0) position</description>
<field type="int32_t" name="latitude">Latitude (WGS84), expressed as * 1E7</field> <field type="int32_t" name="latitude">Latitude (WGS84), in degrees * 1E7</field>
<field type="int32_t" name="longitude">Longitude (WGS84), expressed as * 1E7</field> <field type="int32_t" name="longitude">Longitude (WGS84), in degrees * 1E7</field>
<field type="int32_t" name="altitude">Altitude(WGS84), expressed as * 1000</field> <field type="int32_t" name="altitude">Altitude (WGS84), in meters * 1000 (positive for up)</field>
</message> </message>
<message id="50" name="SET_LOCAL_POSITION_SETPOINT"> <message id="50" name="SET_LOCAL_POSITION_SETPOINT">
<description>Set the setpoint for a local position controller. This is the position in local coordinates the MAV should fly to. This message is sent by the path/MISSION planner to the onboard position controller. As some MAVs have a degree of freedom in yaw (e.g. all helicopters/quadrotors), the desired yaw angle is part of the message.</description> <description>Set the setpoint for a local position controller. This is the position in local coordinates the MAV should fly to. This message is sent by the path/MISSION planner to the onboard position controller. As some MAVs have a degree of freedom in yaw (e.g. all helicopters/quadrotors), the desired yaw angle is part of the message.</description>
@ -1234,17 +1234,17 @@
<message id="52" name="GLOBAL_POSITION_SETPOINT_INT"> <message id="52" name="GLOBAL_POSITION_SETPOINT_INT">
<description>Transmit the current local setpoint of the controller to other MAVs (collision avoidance) and to the GCS.</description> <description>Transmit the current local setpoint of the controller to other MAVs (collision avoidance) and to the GCS.</description>
<field type="uint8_t" name="coordinate_frame">Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT</field> <field type="uint8_t" name="coordinate_frame">Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT</field>
<field type="int32_t" name="latitude">WGS84 Latitude position in degrees * 1E7</field> <field type="int32_t" name="latitude">Latitude (WGS84), in degrees * 1E7</field>
<field type="int32_t" name="longitude">WGS84 Longitude position in degrees * 1E7</field> <field type="int32_t" name="longitude">Longitude (WGS84), in degrees * 1E7</field>
<field type="int32_t" name="altitude">WGS84 Altitude in meters * 1000 (positive for up)</field> <field type="int32_t" name="altitude">Altitude (WGS84), in meters * 1000 (positive for up)</field>
<field type="int16_t" name="yaw">Desired yaw angle in degrees * 100</field> <field type="int16_t" name="yaw">Desired yaw angle in degrees * 100</field>
</message> </message>
<message id="53" name="SET_GLOBAL_POSITION_SETPOINT_INT"> <message id="53" name="SET_GLOBAL_POSITION_SETPOINT_INT">
<description>Set the current global position setpoint.</description> <description>Set the current global position setpoint.</description>
<field type="uint8_t" name="coordinate_frame">Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT</field> <field type="uint8_t" name="coordinate_frame">Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT</field>
<field type="int32_t" name="latitude">WGS84 Latitude position in degrees * 1E7</field> <field type="int32_t" name="latitude">Latitude (WGS84), in degrees * 1E7</field>
<field type="int32_t" name="longitude">WGS84 Longitude position in degrees * 1E7</field> <field type="int32_t" name="longitude">Longitude (WGS84), in degrees * 1E7</field>
<field type="int32_t" name="altitude">WGS84 Altitude in meters * 1000 (positive for up)</field> <field type="int32_t" name="altitude">Altitude (WGS84), in meters * 1000 (positive for up)</field>
<field type="int16_t" name="yaw">Desired yaw angle in degrees * 100</field> <field type="int16_t" name="yaw">Desired yaw angle in degrees * 100</field>
</message> </message>
<message id="54" name="SAFETY_SET_ALLOWED_AREA"> <message id="54" name="SAFETY_SET_ALLOWED_AREA">
@ -1566,6 +1566,57 @@
<field type="uint8_t" name="quality">Optical flow quality / confidence. 0: bad, 255: maximum quality</field> <field type="uint8_t" name="quality">Optical flow quality / confidence. 0: bad, 255: maximum quality</field>
<field type="float" name="front_distance_m">Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance</field> <field type="float" name="front_distance_m">Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance</field>
</message> </message>
<message id="107" name="HIL_SENSOR"> <description>The IMU readings in SI units in NED body frame</description>
<field type="uint64_t" name="time_usec">Timestamp (microseconds, synced to UNIX time or since system boot)</field>
<field type="float" name="roll">Roll angle in inertial frame (rad)</field>
<field type="float" name="pitch">Pitch angle in inertial frame (rad)</field>
<field type="float" name="yaw">Yaw angle in inertial frame (rad)</field>
<field type="int32_t" name="lat">Latitude, expressed as * 1E7 degrees</field>
<field type="int32_t" name="lon">Longitude, expressed as * 1E7 degrees</field>
<field type="float" name="xacc">X acceleration (m/s^2)</field>
<field type="float" name="yacc">Y acceleration (m/s^2)</field>
<field type="float" name="zacc">Z acceleration (m/s^2)</field>
<field type="float" name="xgyro">Angular speed around X axis in body frame (rad / sec)</field>
<field type="float" name="ygyro">Angular speed around Y axis in body frame (rad / sec)</field>
<field type="float" name="zgyro">Angular speed around Z axis in body frame (rad / sec)</field>
<field type="float" name="xmag">X Magnetic field (Gauss)</field>
<field type="float" name="ymag">Y Magnetic field (Gauss)</field>
<field type="float" name="zmag">Z Magnetic field (Gauss)</field>
<field type="float" name="abs_pressure">Absolute pressure in millibar</field>
<field type="float" name="diff_pressure">Differential pressure (airspeed) in millibar</field>
<field type="float" name="pressure_alt">Altitude calculated from pressure</field>
<field type="float" name="gps_alt">GPS altitude (MSL) WGS84</field>
<field type="float" name="temperature">Temperature in degrees celsius</field>
<field type="uint32_t" name="fields_updated">Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature</field>
</message>
<message name="SIM_STATE" id="108">
<description>Status of simulation environment, if used</description>
<field type="float" name="roll">Roll 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="xacc">X acceleration m/s/s</field>
<field type="float" name="yacc">Y acceleration m/s/s</field>
<field type="float" name="zacc">Z acceleration m/s/s</field>
<field type="float" name="xgyro">Angular speed around X axis rad/s</field>
<field type="float" name="ygyro">Angular speed around Y axis rad/s</field>
<field type="float" name="zgyro">Angular speed around Z axis rad/s</field>
<field type="float" name="lat">Latitude in degrees</field>
<field type="float" name="lng">Longitude in degrees</field>
</message>
<message name="RADIO_STATUS" id="109">
<description>Status generated by radio</description>
<field type="uint8_t" name="rssi">local signal strength</field>
<field type="uint8_t" name="remrssi">remote signal strength</field>
<field type="uint8_t" name="txbuf">how full the tx buffer is as a percentage</field>
<field type="uint8_t" name="noise">background noise level</field>
<field type="uint8_t" name="remnoise">remote background noise level</field>
<field type="uint16_t" name="rxerrors">receive errors</field>
<field type="uint16_t" name="fixed">count of error corrected packets</field>
</message>
<message id="110" name="FILE_TRANSFER_START"> <message id="110" name="FILE_TRANSFER_START">
<description>Begin file transfer</description> <description>Begin file transfer</description>
<field type="uint64_t" name="transfer_uid">Unique transfer ID</field> <field type="uint64_t" name="transfer_uid">Unique transfer ID</field>