ardupilot/libraries/GCS_MAVLink/message_definitions/sensesoar.xml

144 lines
5.9 KiB
XML

<?xml version='1.0'?>
<mavlink>
<include>common.xml</include>
<enums>
<enum name="SENSESOAR_MODE">
<description> Different flight modes </description>
<entry name="SENSESOAR_MODE_GLIDING">
<description>Gliding mode with motors off</description>
</entry>
<entry name="SENSESOAR_MODE_AUTONOMOUS">
<description>Autonomous flight</description>
</entry>
<entry name="SENSESOAR_MODE_MANUAL">
<description>RC controlled</description>
</entry>
</enum>
</enums>
<messages>
<message id="170" name="OBS_POSITION">
<description>Position estimate of the observer in global frame</description>
<field type="int32_t" name="lon">
<description>Longitude expressed in 1E7</description>
</field>
<field type="int32_t" name="lat">
<description>Latitude expressed in 1E7</description>
</field>
<field type="int32_t" name="alt">
<description>Altitude expressed in milimeters</description>
</field>
</message>
<message id="172" name="OBS_VELOCITY">
<description>velocity estimate of the observer in NED inertial frame</description>
<field type="float[3]" name="vel">
<description>Velocity</description>
</field>
</message>
<message id="174" name="OBS_ATTITUDE">
<description>attitude estimate of the observe</description>
<field type="double[4]" name="quat">
<description>Quaternion re;im</description>
</field>
</message>
<message id="176" name="OBS_WIND">
<description>Wind estimate in NED inertial frame</description>
<field type="float[3]" name="wind">
<description>Wind</description>
</field>
</message>
<message id="178" name="OBS_AIR_VELOCITY">
<description>Estimate of the air velocity</description>
<field type="float" name="magnitude">
<description>Air speed</description>
</field>
<field type="float" name="aoa">
<description>angle of attack</description>
</field>
<field type="float" name="slip">
<description>slip angle</description>
</field>
</message>
<message id="180" name="OBS_BIAS">
<description>IMU biases</description>
<field type="float[3]" name="accBias">
<description>accelerometer bias</description>
</field>
<field type="float[3]" name="gyroBias">
<description>gyroscope bias</description>
</field>
</message>
<message id="182" name="OBS_QFF">
<description>estimate of the pressure at sea level</description>
<field type="float" name="qff">
<description>Wind</description>
</field>
</message>
<message id="183" name="OBS_AIR_TEMP">
<description>ambient air temperature</description>
<field type="float" name="airT">
<description>Air Temperatur</description>
</field>
</message>
<message id="184" name="FILT_ROT_VEL">
<description>filtered rotational velocity</description>
<field type="float[3]" name="rotVel">
<description>rotational velocity</description>
</field>
</message>
<message id="186" name="LLC_OUT">
<description>low level control output</description>
<field type="int16_t[4]" name="servoOut">
<description>Servo signal</description>
</field>
<field type="int16_t[2]" name="MotorOut">
<description>motor signal</description>
</field>
</message>
<message id="188" name="PM_ELEC">
<description>Power managment</description>
<field type="float" name="PwCons">
<description>current power consumption</description>
</field>
<field type="float" name="BatStat">
<description>battery status</description>
</field>
<field type="float[3]" name="PwGen">
<description>Power generation from each module</description>
</field>
</message>
<message id="190" name="SYS_Stat">
<description>system status</description>
<field type="uint8_t" name="gps">
<description>gps status</description>
</field>
<field type="uint8_t" name="act">
<description>actuator status</description>
</field>
<field type="uint8_t" name="mod">
<description>module status</description>
</field>
<field type="uint8_t" name="commRssi">
<description>module status</description>
</field>
</message>
<message id="192" name="CMD_AIRSPEED_CHNG">
<description>change commanded air speed</description>
<field type="uint8_t" name="target">
<description>Target ID</description>
</field>
<field type="float" name="spCmd">
<description>commanded airspeed</description>
</field>
</message>
<message id="194" name="CMD_AIRSPEED_ACK">
<description>accept change of airspeed</description>
<field type="float" name="spCmd">
<description>commanded airspeed</description>
</field>
<field type="uint8_t" name="ack">
<description>0:ack, 1:nack</description>
</field>
</message>
</messages>
</mavlink>