mirror of https://github.com/ArduPilot/ardupilot
144 lines
5.9 KiB
XML
144 lines
5.9 KiB
XML
<?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="SENSESOAR_MODE">
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<description> Different flight modes </description>
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<entry name="SENSESOAR_MODE_GLIDING">
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<description>Gliding mode with motors off</description>
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</entry>
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<entry name="SENSESOAR_MODE_AUTONOMOUS">
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<description>Autonomous flight</description>
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</entry>
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<entry name="SENSESOAR_MODE_MANUAL">
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<description>RC controlled</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="170" name="OBS_POSITION">
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<description>Position estimate of the observer in global frame</description>
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<field type="int32_t" name="lon">
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<description>Longitude expressed in 1E7</description>
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</field>
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<field type="int32_t" name="lat">
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<description>Latitude expressed in 1E7</description>
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</field>
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<field type="int32_t" name="alt">
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<description>Altitude expressed in milimeters</description>
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</field>
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</message>
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<message id="172" name="OBS_VELOCITY">
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<description>velocity estimate of the observer in NED inertial frame</description>
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<field type="float[3]" name="vel">
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<description>Velocity</description>
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</field>
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</message>
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<message id="174" name="OBS_ATTITUDE">
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<description>attitude estimate of the observe</description>
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<field type="double[4]" name="quat">
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<description>Quaternion re;im</description>
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</field>
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</message>
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<message id="176" name="OBS_WIND">
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<description>Wind estimate in NED inertial frame</description>
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<field type="float[3]" name="wind">
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<description>Wind</description>
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</field>
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</message>
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<message id="178" name="OBS_AIR_VELOCITY">
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<description>Estimate of the air velocity</description>
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<field type="float" name="magnitude">
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<description>Air speed</description>
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</field>
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<field type="float" name="aoa">
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<description>angle of attack</description>
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</field>
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<field type="float" name="slip">
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<description>slip angle</description>
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</field>
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</message>
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<message id="180" name="OBS_BIAS">
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<description>IMU biases</description>
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<field type="float[3]" name="accBias">
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<description>accelerometer bias</description>
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</field>
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<field type="float[3]" name="gyroBias">
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<description>gyroscope bias</description>
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</field>
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</message>
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<message id="182" name="OBS_QFF">
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<description>estimate of the pressure at sea level</description>
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<field type="float" name="qff">
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<description>Wind</description>
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</field>
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</message>
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<message id="183" name="OBS_AIR_TEMP">
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<description>ambient air temperature</description>
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<field type="float" name="airT">
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<description>Air Temperatur</description>
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</field>
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</message>
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<message id="184" name="FILT_ROT_VEL">
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<description>filtered rotational velocity</description>
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<field type="float[3]" name="rotVel">
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<description>rotational velocity</description>
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</field>
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</message>
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<message id="186" name="LLC_OUT">
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<description>low level control output</description>
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<field type="int16_t[4]" name="servoOut">
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<description>Servo signal</description>
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</field>
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<field type="int16_t[2]" name="MotorOut">
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<description>motor signal</description>
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</field>
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</message>
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<message id="188" name="PM_ELEC">
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<description>Power managment</description>
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<field type="float" name="PwCons">
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<description>current power consumption</description>
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</field>
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<field type="float" name="BatStat">
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<description>battery status</description>
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</field>
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<field type="float[3]" name="PwGen">
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<description>Power generation from each module</description>
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</field>
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</message>
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<message id="190" name="SYS_Stat">
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<description>system status</description>
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<field type="uint8_t" name="gps">
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<description>gps status</description>
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</field>
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<field type="uint8_t" name="act">
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<description>actuator status</description>
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</field>
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<field type="uint8_t" name="mod">
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<description>module status</description>
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</field>
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<field type="uint8_t" name="commRssi">
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<description>module status</description>
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</field>
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</message>
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<message id="192" name="CMD_AIRSPEED_CHNG">
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<description>change commanded air speed</description>
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<field type="uint8_t" name="target">
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<description>Target ID</description>
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</field>
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<field type="float" name="spCmd">
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<description>commanded airspeed</description>
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</field>
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</message>
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<message id="194" name="CMD_AIRSPEED_ACK">
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<description>accept change of airspeed</description>
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<field type="float" name="spCmd">
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<description>commanded airspeed</description>
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</field>
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<field type="uint8_t" name="ack">
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<description>0:ack, 1:nack</description>
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</field>
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</message>
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</messages>
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</mavlink>
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