common.xml Does nothing. 1 to arm, 0 to disarm Return vehicle to base. 0: return to base, 1: track mobile base Stops the vehicle from returning to base and resumes flight. Turns the vehicle's visible or infrared lights on or off. 0: visible lights, 1: infrared lights 0: turn on, 1: turn off Requests vehicle to send current mid-level commands to ground station. Requests storage of mid-level commands. Mid-level command storage: 0: read from flash/EEPROM, 1: write to flash/EEPROM Slugs-specific navigation modes. No change to SLUGS mode. Vehicle is in liftoff mode. Vehicle is in passthrough mode, being controlled by a pilot. Vehicle is in waypoint mode, navigating to waypoints. Vehicle is executing mid-level commands. Vehicle is returning to the home location. Vehicle is landing. Lost connection with vehicle. Vehicle is in selective passthrough mode, where selected surfaces are being manually controlled. Vehicle is in ISR mode, performing reconaissance at a point specified by ISR_LOCATION message. Vehicle is patrolling along lines between waypoints. Vehicle is grounded or an error has occurred. These flags encode the control surfaces for selective passthrough mode. If a bit is set then the pilot console has control of the surface, and if not then the autopilot has control of the surface. 0b10000000 Throttle control passes through to pilot console. 0b01000000 Left aileron control passes through to pilot console. 0b00100000 Right aileron control passes through to pilot console. 0b00010000 Rudder control passes through to pilot console. 0b00001000 Left elevator control passes through to pilot console. 0b00000100 Right elevator control passes through to pilot console. 0b00000010 Left flap control passes through to pilot console. 0b00000001 Right flap control passes through to pilot console. Sensor and DSC control loads. Sensor DSC Load Control DSC Load Battery Voltage in millivolts Accelerometer and gyro biases. Accelerometer X bias (m/s) Accelerometer Y bias (m/s) Accelerometer Z bias (m/s) Gyro X bias (rad/s) Gyro Y bias (rad/s) Gyro Z bias (rad/s) Configurable diagnostic messages. Diagnostic float 1 Diagnostic float 2 Diagnostic float 3 Diagnostic short 1 Diagnostic short 2 Diagnostic short 3 Data used in the navigation algorithm. Measured Airspeed prior to the nav filter in m/s Commanded Roll Commanded Pitch Commanded Turn rate Y component of the body acceleration Total Distance to Run on this leg of Navigation Remaining distance to Run on this leg of Navigation Origin WP Destination WP Commanded altitude in 0.1 m Configurable data log probes to be used inside Simulink Log value 1 Log value 2 Log value 3 Log value 4 Log value 5 Log value 6 Pilot console PWM messges. Year reported by Gps Month reported by Gps Day reported by Gps Hour reported by Gps Min reported by Gps Sec reported by Gps Clock Status. See table 47 page 211 OEMStar Manual Visible satellites reported by Gps Used satellites in Solution GPS+GLONASS satellites in Solution GPS and GLONASS usage mask (bit 0 GPS_used? bit_4 GLONASS_used?) Percent used GPS Mid Level commands sent from the GS to the autopilot. These are only sent when being operated in mid-level commands mode from the ground. The system setting the commands Commanded Altitude in meters Commanded Airspeed in m/s Commanded Turnrate in rad/s This message sets the control surfaces for selective passthrough mode. The system setting the commands Bitfield containing the passthrough configuration, see CONTROL_SURFACE_FLAG ENUM. Orders generated to the SLUGS camera mount. The system reporting the action Order the mount to pan: -1 left, 0 No pan motion, +1 right Order the mount to tilt: -1 down, 0 No tilt motion, +1 up Order the zoom values 0 to 10 Orders the camera mount to move home. The other fields are ignored when this field is set. 1: move home, 0 ignored Control for surface; pending and order to origin. The system setting the commands ID control surface send 0: throttle 1: aileron 2: elevator 3: rudder Pending Order to origin Transmits the last known position of the mobile GS to the UAV. Very relevant when Track Mobile is enabled The system reporting the action Mobile Latitude Mobile Longitude Control for camara. The system setting the commands ID 0: brightness 1: aperture 2: iris 3: ICR 4: backlight 1: up/on 2: down/off 3: auto/reset/no action Transmits the position of watch The system reporting the action ISR Latitude ISR Longitude ISR Height Option 1 Option 2 Option 3 Transmits the readings from the voltage and current sensors It is the value of reading 2: 0 - Current, 1 - Foreward Sonar, 2 - Back Sonar, 3 - RPM Voltage in uS of PWM. 0 uS = 0V, 20 uS = 21.5V Depends on the value of r2Type (0) Current consumption in uS of PWM, 20 uS = 90Amp (1) Distance in cm (2) Distance in cm (3) Absolute value Transmits the actual Pan, Tilt and Zoom values of the camera unit The actual Zoom Value The Pan value in 10ths of degree The Tilt value in 10ths of degree Transmits the actual status values UAV in flight The ID system reporting the action Latitude UAV Longitude UAV Altitude UAV Speed UAV Course UAV This contains the status of the GPS readings Number of times checksum has failed The quality indicator, 0=fix not available or invalid, 1=GPS fix, 2=C/A differential GPS, 6=Dead reckoning mode, 7=Manual input mode (fixed position), 8=Simulator mode, 9= WAAS a Indicates if GN, GL or GP messages are being received A = data valid, V = data invalid Magnetic variation, degrees Magnetic variation direction E/W. Easterly variation (E) subtracts from True course and Westerly variation (W) adds to True course Positioning system mode indicator. A - Autonomous;D-Differential; E-Estimated (dead reckoning) mode;M-Manual input; N-Data not valid Transmits the diagnostics data from the Novatel OEMStar GPS The Time Status. See Table 8 page 27 Novatel OEMStar Manual Status Bitfield. See table 69 page 350 Novatel OEMstar Manual solution Status. See table 44 page 197 position type. See table 43 page 196 velocity type. See table 43 page 196 Age of the position solution in seconds Times the CRC has failed since boot Diagnostic data Sensor MCU Float field 1 Float field 2 Int 16 field 1 Int 8 field 1 The boot message indicates that a system is starting. The onboard software version allows to keep track of onboard soft/firmware revisions. This message allows the sensor and control MCUs to communicate version numbers on startup. The onboard software version