forked from Archive/PX4-Autopilot
5269 lines
305 KiB
Python
5269 lines
305 KiB
Python
'''
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MAVLink protocol implementation (auto-generated by mavgen.py)
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Generated from: common.xml
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Note: this file has been auto-generated. DO NOT EDIT
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'''
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import struct, array, mavutil, time, json
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WIRE_PROTOCOL_VERSION = "1.0"
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# some base types from mavlink_types.h
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MAVLINK_TYPE_CHAR = 0
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MAVLINK_TYPE_UINT8_T = 1
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MAVLINK_TYPE_INT8_T = 2
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MAVLINK_TYPE_UINT16_T = 3
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MAVLINK_TYPE_INT16_T = 4
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MAVLINK_TYPE_UINT32_T = 5
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MAVLINK_TYPE_INT32_T = 6
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MAVLINK_TYPE_UINT64_T = 7
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MAVLINK_TYPE_INT64_T = 8
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MAVLINK_TYPE_FLOAT = 9
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MAVLINK_TYPE_DOUBLE = 10
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class MAVLink_header(object):
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'''MAVLink message header'''
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def __init__(self, msgId, mlen=0, seq=0, srcSystem=0, srcComponent=0):
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self.mlen = mlen
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self.seq = seq
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self.srcSystem = srcSystem
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self.srcComponent = srcComponent
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self.msgId = msgId
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def pack(self):
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return struct.pack('BBBBBB', 254, self.mlen, self.seq,
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self.srcSystem, self.srcComponent, self.msgId)
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class MAVLink_message(object):
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'''base MAVLink message class'''
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def __init__(self, msgId, name):
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self._header = MAVLink_header(msgId)
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self._payload = None
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self._msgbuf = None
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self._crc = None
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self._fieldnames = []
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self._type = name
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def get_msgbuf(self):
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if isinstance(self._msgbuf, str):
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return self._msgbuf
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return self._msgbuf.tostring()
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def get_header(self):
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return self._header
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def get_payload(self):
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return self._payload
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def get_crc(self):
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return self._crc
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def get_fieldnames(self):
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return self._fieldnames
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def get_type(self):
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return self._type
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def get_msgId(self):
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return self._header.msgId
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def get_srcSystem(self):
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return self._header.srcSystem
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def get_srcComponent(self):
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return self._header.srcComponent
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def get_seq(self):
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return self._header.seq
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def __str__(self):
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ret = '%s {' % self._type
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for a in self._fieldnames:
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v = getattr(self, a)
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ret += '%s : %s, ' % (a, v)
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ret = ret[0:-2] + '}'
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return ret
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def to_dict(self):
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d = dict({})
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d['mavpackettype'] = self._type
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for a in self._fieldnames:
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d[a] = getattr(self, a)
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return d
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def to_json(self):
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return json.dumps(self.to_dict)
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def pack(self, mav, crc_extra, payload):
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self._payload = payload
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self._header = MAVLink_header(self._header.msgId, len(payload), mav.seq,
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mav.srcSystem, mav.srcComponent)
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self._msgbuf = self._header.pack() + payload
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crc = mavutil.x25crc(self._msgbuf[1:])
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if True: # using CRC extra
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crc.accumulate(chr(crc_extra))
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self._crc = crc.crc
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self._msgbuf += struct.pack('<H', self._crc)
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return self._msgbuf
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# enums
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# MAV_AUTOPILOT
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MAV_AUTOPILOT_GENERIC = 0 # Generic autopilot, full support for everything
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MAV_AUTOPILOT_PIXHAWK = 1 # PIXHAWK autopilot, http://pixhawk.ethz.ch
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MAV_AUTOPILOT_SLUGS = 2 # SLUGS autopilot, http://slugsuav.soe.ucsc.edu
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MAV_AUTOPILOT_ARDUPILOTMEGA = 3 # ArduPilotMega / ArduCopter, http://diydrones.com
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MAV_AUTOPILOT_OPENPILOT = 4 # OpenPilot, http://openpilot.org
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MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY = 5 # Generic autopilot only supporting simple waypoints
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MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY = 6 # Generic autopilot supporting waypoints and other simple navigation
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# commands
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MAV_AUTOPILOT_GENERIC_MISSION_FULL = 7 # Generic autopilot supporting the full mission command set
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MAV_AUTOPILOT_INVALID = 8 # No valid autopilot, e.g. a GCS or other MAVLink component
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MAV_AUTOPILOT_PPZ = 9 # PPZ UAV - http://nongnu.org/paparazzi
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MAV_AUTOPILOT_UDB = 10 # UAV Dev Board
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MAV_AUTOPILOT_FP = 11 # FlexiPilot
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MAV_AUTOPILOT_PX4 = 12 # PX4 Autopilot - http://pixhawk.ethz.ch/px4/
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MAV_AUTOPILOT_ENUM_END = 13 #
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# MAV_TYPE
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MAV_TYPE_GENERIC = 0 # Generic micro air vehicle.
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MAV_TYPE_FIXED_WING = 1 # Fixed wing aircraft.
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MAV_TYPE_QUADROTOR = 2 # Quadrotor
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MAV_TYPE_COAXIAL = 3 # Coaxial helicopter
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MAV_TYPE_HELICOPTER = 4 # Normal helicopter with tail rotor.
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MAV_TYPE_ANTENNA_TRACKER = 5 # Ground installation
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MAV_TYPE_GCS = 6 # Operator control unit / ground control station
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MAV_TYPE_AIRSHIP = 7 # Airship, controlled
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MAV_TYPE_FREE_BALLOON = 8 # Free balloon, uncontrolled
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MAV_TYPE_ROCKET = 9 # Rocket
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MAV_TYPE_GROUND_ROVER = 10 # Ground rover
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MAV_TYPE_SURFACE_BOAT = 11 # Surface vessel, boat, ship
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MAV_TYPE_SUBMARINE = 12 # Submarine
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MAV_TYPE_HEXAROTOR = 13 # Hexarotor
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MAV_TYPE_OCTOROTOR = 14 # Octorotor
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MAV_TYPE_TRICOPTER = 15 # Octorotor
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MAV_TYPE_FLAPPING_WING = 16 # Flapping wing
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MAV_TYPE_KITE = 17 # Flapping wing
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MAV_TYPE_ENUM_END = 18 #
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# MAV_MODE_FLAG
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MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1 # 0b00000001 Reserved for future use.
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MAV_MODE_FLAG_TEST_ENABLED = 2 # 0b00000010 system has a test mode enabled. This flag is intended for
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# temporary system tests and should not be
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# used for stable implementations.
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MAV_MODE_FLAG_AUTO_ENABLED = 4 # 0b00000100 autonomous mode enabled, system finds its own goal
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# positions. Guided flag can be set or not,
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# depends on the actual implementation.
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MAV_MODE_FLAG_GUIDED_ENABLED = 8 # 0b00001000 guided mode enabled, system flies MISSIONs / mission items.
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MAV_MODE_FLAG_STABILIZE_ENABLED = 16 # 0b00010000 system stabilizes electronically its attitude (and
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# optionally position). It needs however
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# further control inputs to move around.
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MAV_MODE_FLAG_HIL_ENABLED = 32 # 0b00100000 hardware in the loop simulation. All motors / actuators are
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# blocked, but internal software is full
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# operational.
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MAV_MODE_FLAG_MANUAL_INPUT_ENABLED = 64 # 0b01000000 remote control input is enabled.
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MAV_MODE_FLAG_SAFETY_ARMED = 128 # 0b10000000 MAV safety set to armed. Motors are enabled / running / can
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# start. Ready to fly.
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MAV_MODE_FLAG_ENUM_END = 129 #
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# MAV_MODE_FLAG_DECODE_POSITION
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MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE = 1 # Eighth bit: 00000001
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MAV_MODE_FLAG_DECODE_POSITION_TEST = 2 # Seventh bit: 00000010
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MAV_MODE_FLAG_DECODE_POSITION_AUTO = 4 # Sixt bit: 00000100
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MAV_MODE_FLAG_DECODE_POSITION_GUIDED = 8 # Fifth bit: 00001000
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MAV_MODE_FLAG_DECODE_POSITION_STABILIZE = 16 # Fourth bit: 00010000
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MAV_MODE_FLAG_DECODE_POSITION_HIL = 32 # Third bit: 00100000
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MAV_MODE_FLAG_DECODE_POSITION_MANUAL = 64 # Second bit: 01000000
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MAV_MODE_FLAG_DECODE_POSITION_SAFETY = 128 # First bit: 10000000
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MAV_MODE_FLAG_DECODE_POSITION_ENUM_END = 129 #
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# MAV_GOTO
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MAV_GOTO_DO_HOLD = 0 # Hold at the current position.
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MAV_GOTO_DO_CONTINUE = 1 # Continue with the next item in mission execution.
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MAV_GOTO_HOLD_AT_CURRENT_POSITION = 2 # Hold at the current position of the system
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MAV_GOTO_HOLD_AT_SPECIFIED_POSITION = 3 # Hold at the position specified in the parameters of the DO_HOLD action
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MAV_GOTO_ENUM_END = 4 #
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# MAV_MODE
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MAV_MODE_PREFLIGHT = 0 # System is not ready to fly, booting, calibrating, etc. No flag is set.
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MAV_MODE_MANUAL_DISARMED = 64 # System is allowed to be active, under manual (RC) control, no
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# stabilization
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MAV_MODE_TEST_DISARMED = 66 # UNDEFINED mode. This solely depends on the autopilot - use with
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# caution, intended for developers only.
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MAV_MODE_STABILIZE_DISARMED = 80 # System is allowed to be active, under assisted RC control.
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MAV_MODE_GUIDED_DISARMED = 88 # System is allowed to be active, under autonomous control, manual
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# setpoint
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MAV_MODE_AUTO_DISARMED = 92 # System is allowed to be active, under autonomous control and
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# navigation (the trajectory is decided
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# onboard and not pre-programmed by MISSIONs)
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MAV_MODE_MANUAL_ARMED = 192 # System is allowed to be active, under manual (RC) control, no
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# stabilization
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MAV_MODE_TEST_ARMED = 194 # UNDEFINED mode. This solely depends on the autopilot - use with
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# caution, intended for developers only.
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MAV_MODE_STABILIZE_ARMED = 208 # System is allowed to be active, under assisted RC control.
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MAV_MODE_GUIDED_ARMED = 216 # System is allowed to be active, under autonomous control, manual
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# setpoint
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MAV_MODE_AUTO_ARMED = 220 # System is allowed to be active, under autonomous control and
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# navigation (the trajectory is decided
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# onboard and not pre-programmed by MISSIONs)
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MAV_MODE_ENUM_END = 221 #
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# MAV_STATE
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MAV_STATE_UNINIT = 0 # Uninitialized system, state is unknown.
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MAV_STATE_BOOT = 1 # System is booting up.
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MAV_STATE_CALIBRATING = 2 # System is calibrating and not flight-ready.
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MAV_STATE_STANDBY = 3 # System is grounded and on standby. It can be launched any time.
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MAV_STATE_ACTIVE = 4 # System is active and might be already airborne. Motors are engaged.
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MAV_STATE_CRITICAL = 5 # System is in a non-normal flight mode. It can however still navigate.
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MAV_STATE_EMERGENCY = 6 # System is in a non-normal flight mode. It lost control over parts or
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# over the whole airframe. It is in mayday and
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# going down.
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MAV_STATE_POWEROFF = 7 # System just initialized its power-down sequence, will shut down now.
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MAV_STATE_ENUM_END = 8 #
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# MAV_COMPONENT
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MAV_COMP_ID_ALL = 0 #
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MAV_COMP_ID_CAMERA = 100 #
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MAV_COMP_ID_SERVO1 = 140 #
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MAV_COMP_ID_SERVO2 = 141 #
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MAV_COMP_ID_SERVO3 = 142 #
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MAV_COMP_ID_SERVO4 = 143 #
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MAV_COMP_ID_SERVO5 = 144 #
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MAV_COMP_ID_SERVO6 = 145 #
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MAV_COMP_ID_SERVO7 = 146 #
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MAV_COMP_ID_SERVO8 = 147 #
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MAV_COMP_ID_SERVO9 = 148 #
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MAV_COMP_ID_SERVO10 = 149 #
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MAV_COMP_ID_SERVO11 = 150 #
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MAV_COMP_ID_SERVO12 = 151 #
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MAV_COMP_ID_SERVO13 = 152 #
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MAV_COMP_ID_SERVO14 = 153 #
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MAV_COMP_ID_MAPPER = 180 #
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MAV_COMP_ID_MISSIONPLANNER = 190 #
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MAV_COMP_ID_PATHPLANNER = 195 #
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MAV_COMP_ID_IMU = 200 #
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MAV_COMP_ID_IMU_2 = 201 #
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MAV_COMP_ID_IMU_3 = 202 #
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MAV_COMP_ID_GPS = 220 #
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MAV_COMP_ID_UDP_BRIDGE = 240 #
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MAV_COMP_ID_UART_BRIDGE = 241 #
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MAV_COMP_ID_SYSTEM_CONTROL = 250 #
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MAV_COMPONENT_ENUM_END = 251 #
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# MAV_FRAME
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MAV_FRAME_GLOBAL = 0 # Global coordinate frame, WGS84 coordinate system. First value / x:
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# latitude, second value / y: longitude, third
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# value / z: positive altitude over mean sea
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# level (MSL)
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MAV_FRAME_LOCAL_NED = 1 # Local coordinate frame, Z-up (x: north, y: east, z: down).
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MAV_FRAME_MISSION = 2 # NOT a coordinate frame, indicates a mission command.
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MAV_FRAME_GLOBAL_RELATIVE_ALT = 3 # Global coordinate frame, WGS84 coordinate system, relative altitude
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# over ground with respect to the home
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# position. First value / x: latitude, second
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# value / y: longitude, third value / z:
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# positive altitude with 0 being at the
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# altitude of the home location.
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MAV_FRAME_LOCAL_ENU = 4 # Local coordinate frame, Z-down (x: east, y: north, z: up)
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MAV_FRAME_ENUM_END = 5 #
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# MAVLINK_DATA_STREAM_TYPE
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MAVLINK_DATA_STREAM_IMG_JPEG = 1 #
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MAVLINK_DATA_STREAM_IMG_BMP = 2 #
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MAVLINK_DATA_STREAM_IMG_RAW8U = 3 #
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MAVLINK_DATA_STREAM_IMG_RAW32U = 4 #
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MAVLINK_DATA_STREAM_IMG_PGM = 5 #
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MAVLINK_DATA_STREAM_IMG_PNG = 6 #
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MAVLINK_DATA_STREAM_TYPE_ENUM_END = 7 #
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# MAV_CMD
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MAV_CMD_NAV_WAYPOINT = 16 # Navigate to MISSION.
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MAV_CMD_NAV_LOITER_UNLIM = 17 # Loiter around this MISSION an unlimited amount of time
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MAV_CMD_NAV_LOITER_TURNS = 18 # Loiter around this MISSION for X turns
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MAV_CMD_NAV_LOITER_TIME = 19 # Loiter around this MISSION for X seconds
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MAV_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location
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MAV_CMD_NAV_LAND = 21 # Land at location
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MAV_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand
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MAV_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle
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# itself. This can then be used by the
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# vehicles control system to control the
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# vehicle attitude and the attitude of various
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# sensors such as cameras.
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MAV_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV.
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MAV_CMD_NAV_LAST = 95 # NOP - This command is only used to mark the upper limit of the
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# NAV/ACTION commands in the enumeration
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MAV_CMD_CONDITION_DELAY = 112 # Delay mission state machine.
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MAV_CMD_CONDITION_CHANGE_ALT = 113 # Ascend/descend at rate. Delay mission state machine until desired
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# altitude reached.
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MAV_CMD_CONDITION_DISTANCE = 114 # Delay mission state machine until within desired distance of next NAV
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# point.
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MAV_CMD_CONDITION_YAW = 115 # Reach a certain target angle.
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MAV_CMD_CONDITION_LAST = 159 # NOP - This command is only used to mark the upper limit of the
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# CONDITION commands in the enumeration
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MAV_CMD_DO_SET_MODE = 176 # Set system mode.
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MAV_CMD_DO_JUMP = 177 # Jump to the desired command in the mission list. Repeat this action
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# only the specified number of times
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MAV_CMD_DO_CHANGE_SPEED = 178 # Change speed and/or throttle set points.
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MAV_CMD_DO_SET_HOME = 179 # Changes the home location either to the current location or a
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# specified location.
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MAV_CMD_DO_SET_PARAMETER = 180 # Set a system parameter. Caution! Use of this command requires
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# knowledge of the numeric enumeration value
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# of the parameter.
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MAV_CMD_DO_SET_RELAY = 181 # Set a relay to a condition.
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MAV_CMD_DO_REPEAT_RELAY = 182 # Cycle a relay on and off for a desired number of cyles with a desired
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# period.
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MAV_CMD_DO_SET_SERVO = 183 # Set a servo to a desired PWM value.
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MAV_CMD_DO_REPEAT_SERVO = 184 # Cycle a between its nominal setting and a desired PWM for a desired
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# number of cycles with a desired period.
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MAV_CMD_DO_CONTROL_VIDEO = 200 # Control onboard camera system.
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MAV_CMD_DO_LAST = 240 # NOP - This command is only used to mark the upper limit of the DO
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# commands in the enumeration
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MAV_CMD_PREFLIGHT_CALIBRATION = 241 # Trigger calibration. This command will be only accepted if in pre-
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# flight mode.
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MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242 # Set sensor offsets. This command will be only accepted if in pre-
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# flight mode.
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MAV_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command
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# will be only accepted if in pre-flight mode.
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MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246 # Request the reboot or shutdown of system components.
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MAV_CMD_OVERRIDE_GOTO = 252 # Hold / continue the current action
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MAV_CMD_MISSION_START = 300 # start running a mission
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MAV_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component
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MAV_CMD_ENUM_END = 401 #
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# MAV_DATA_STREAM
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MAV_DATA_STREAM_ALL = 0 # Enable all data streams
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MAV_DATA_STREAM_RAW_SENSORS = 1 # Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.
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MAV_DATA_STREAM_EXTENDED_STATUS = 2 # Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
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MAV_DATA_STREAM_RC_CHANNELS = 3 # Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
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MAV_DATA_STREAM_RAW_CONTROLLER = 4 # Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT,
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# NAV_CONTROLLER_OUTPUT.
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MAV_DATA_STREAM_POSITION = 6 # Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.
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MAV_DATA_STREAM_EXTRA1 = 10 # Dependent on the autopilot
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MAV_DATA_STREAM_EXTRA2 = 11 # Dependent on the autopilot
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MAV_DATA_STREAM_EXTRA3 = 12 # Dependent on the autopilot
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MAV_DATA_STREAM_ENUM_END = 13 #
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# MAV_ROI
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MAV_ROI_NONE = 0 # No region of interest.
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MAV_ROI_WPNEXT = 1 # Point toward next MISSION.
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MAV_ROI_WPINDEX = 2 # Point toward given MISSION.
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MAV_ROI_LOCATION = 3 # Point toward fixed location.
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MAV_ROI_TARGET = 4 # Point toward of given id.
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MAV_ROI_ENUM_END = 5 #
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# MAV_CMD_ACK
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MAV_CMD_ACK_OK = 1 # Command / mission item is ok.
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MAV_CMD_ACK_ERR_FAIL = 2 # Generic error message if none of the other reasons fails or if no
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# detailed error reporting is implemented.
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MAV_CMD_ACK_ERR_ACCESS_DENIED = 3 # The system is refusing to accept this command from this source /
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# communication partner.
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MAV_CMD_ACK_ERR_NOT_SUPPORTED = 4 # Command or mission item is not supported, other commands would be
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# accepted.
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MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTED = 5 # The coordinate frame of this command / mission item is not supported.
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MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGE = 6 # The coordinate frame of this command is ok, but he coordinate values
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# exceed the safety limits of this system.
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# This is a generic error, please use the more
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# specific error messages below if possible.
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MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE = 7 # The X or latitude value is out of range.
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MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE = 8 # The Y or longitude value is out of range.
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MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE = 9 # The Z or altitude value is out of range.
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MAV_CMD_ACK_ENUM_END = 10 #
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# MAV_PARAM_TYPE
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MAV_PARAM_TYPE_UINT8 = 1 # 8-bit unsigned integer
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MAV_PARAM_TYPE_INT8 = 2 # 8-bit signed integer
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MAV_PARAM_TYPE_UINT16 = 3 # 16-bit unsigned integer
|
|
MAV_PARAM_TYPE_INT16 = 4 # 16-bit signed integer
|
|
MAV_PARAM_TYPE_UINT32 = 5 # 32-bit unsigned integer
|
|
MAV_PARAM_TYPE_INT32 = 6 # 32-bit signed integer
|
|
MAV_PARAM_TYPE_UINT64 = 7 # 64-bit unsigned integer
|
|
MAV_PARAM_TYPE_INT64 = 8 # 64-bit signed integer
|
|
MAV_PARAM_TYPE_REAL32 = 9 # 32-bit floating-point
|
|
MAV_PARAM_TYPE_REAL64 = 10 # 64-bit floating-point
|
|
MAV_PARAM_TYPE_ENUM_END = 11 #
|
|
|
|
# MAV_RESULT
|
|
MAV_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED
|
|
MAV_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED
|
|
MAV_RESULT_DENIED = 2 # Command PERMANENTLY DENIED
|
|
MAV_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED
|
|
MAV_RESULT_FAILED = 4 # Command executed, but failed
|
|
MAV_RESULT_ENUM_END = 5 #
|
|
|
|
# MAV_MISSION_RESULT
|
|
MAV_MISSION_ACCEPTED = 0 # mission accepted OK
|
|
MAV_MISSION_ERROR = 1 # generic error / not accepting mission commands at all right now
|
|
MAV_MISSION_UNSUPPORTED_FRAME = 2 # coordinate frame is not supported
|
|
MAV_MISSION_UNSUPPORTED = 3 # command is not supported
|
|
MAV_MISSION_NO_SPACE = 4 # mission item exceeds storage space
|
|
MAV_MISSION_INVALID = 5 # one of the parameters has an invalid value
|
|
MAV_MISSION_INVALID_PARAM1 = 6 # param1 has an invalid value
|
|
MAV_MISSION_INVALID_PARAM2 = 7 # param2 has an invalid value
|
|
MAV_MISSION_INVALID_PARAM3 = 8 # param3 has an invalid value
|
|
MAV_MISSION_INVALID_PARAM4 = 9 # param4 has an invalid value
|
|
MAV_MISSION_INVALID_PARAM5_X = 10 # x/param5 has an invalid value
|
|
MAV_MISSION_INVALID_PARAM6_Y = 11 # y/param6 has an invalid value
|
|
MAV_MISSION_INVALID_PARAM7 = 12 # param7 has an invalid value
|
|
MAV_MISSION_INVALID_SEQUENCE = 13 # received waypoint out of sequence
|
|
MAV_MISSION_DENIED = 14 # not accepting any mission commands from this communication partner
|
|
MAV_MISSION_RESULT_ENUM_END = 15 #
|
|
|
|
# MAV_SEVERITY
|
|
MAV_SEVERITY_EMERGENCY = 0 # System is unusable. This is a "panic" condition.
|
|
MAV_SEVERITY_ALERT = 1 # Action should be taken immediately. Indicates error in non-critical
|
|
# systems.
|
|
MAV_SEVERITY_CRITICAL = 2 # Action must be taken immediately. Indicates failure in a primary
|
|
# system.
|
|
MAV_SEVERITY_ERROR = 3 # Indicates an error in secondary/redundant systems.
|
|
MAV_SEVERITY_WARNING = 4 # Indicates about a possible future error if this is not resolved within
|
|
# a given timeframe. Example would be a low
|
|
# battery warning.
|
|
MAV_SEVERITY_NOTICE = 5 # An unusual event has occured, though not an error condition. This
|
|
# should be investigated for the root cause.
|
|
MAV_SEVERITY_INFO = 6 # Normal operational messages. Useful for logging. No action is required
|
|
# for these messages.
|
|
MAV_SEVERITY_DEBUG = 7 # Useful non-operational messages that can assist in debugging. These
|
|
# should not occur during normal operation.
|
|
MAV_SEVERITY_ENUM_END = 8 #
|
|
|
|
# message IDs
|
|
MAVLINK_MSG_ID_BAD_DATA = -1
|
|
MAVLINK_MSG_ID_HEARTBEAT = 0
|
|
MAVLINK_MSG_ID_SYS_STATUS = 1
|
|
MAVLINK_MSG_ID_SYSTEM_TIME = 2
|
|
MAVLINK_MSG_ID_PING = 4
|
|
MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL = 5
|
|
MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK = 6
|
|
MAVLINK_MSG_ID_AUTH_KEY = 7
|
|
MAVLINK_MSG_ID_SET_MODE = 11
|
|
MAVLINK_MSG_ID_PARAM_REQUEST_READ = 20
|
|
MAVLINK_MSG_ID_PARAM_REQUEST_LIST = 21
|
|
MAVLINK_MSG_ID_PARAM_VALUE = 22
|
|
MAVLINK_MSG_ID_PARAM_SET = 23
|
|
MAVLINK_MSG_ID_GPS_RAW_INT = 24
|
|
MAVLINK_MSG_ID_GPS_STATUS = 25
|
|
MAVLINK_MSG_ID_SCALED_IMU = 26
|
|
MAVLINK_MSG_ID_RAW_IMU = 27
|
|
MAVLINK_MSG_ID_RAW_PRESSURE = 28
|
|
MAVLINK_MSG_ID_SCALED_PRESSURE = 29
|
|
MAVLINK_MSG_ID_ATTITUDE = 30
|
|
MAVLINK_MSG_ID_ATTITUDE_QUATERNION = 31
|
|
MAVLINK_MSG_ID_LOCAL_POSITION_NED = 32
|
|
MAVLINK_MSG_ID_GLOBAL_POSITION_INT = 33
|
|
MAVLINK_MSG_ID_RC_CHANNELS_SCALED = 34
|
|
MAVLINK_MSG_ID_RC_CHANNELS_RAW = 35
|
|
MAVLINK_MSG_ID_SERVO_OUTPUT_RAW = 36
|
|
MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST = 37
|
|
MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST = 38
|
|
MAVLINK_MSG_ID_MISSION_ITEM = 39
|
|
MAVLINK_MSG_ID_MISSION_REQUEST = 40
|
|
MAVLINK_MSG_ID_MISSION_SET_CURRENT = 41
|
|
MAVLINK_MSG_ID_MISSION_CURRENT = 42
|
|
MAVLINK_MSG_ID_MISSION_REQUEST_LIST = 43
|
|
MAVLINK_MSG_ID_MISSION_COUNT = 44
|
|
MAVLINK_MSG_ID_MISSION_CLEAR_ALL = 45
|
|
MAVLINK_MSG_ID_MISSION_ITEM_REACHED = 46
|
|
MAVLINK_MSG_ID_MISSION_ACK = 47
|
|
MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN = 48
|
|
MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN = 49
|
|
MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT = 50
|
|
MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT = 51
|
|
MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT = 52
|
|
MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT = 53
|
|
MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA = 54
|
|
MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA = 55
|
|
MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST = 56
|
|
MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST = 57
|
|
MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT = 58
|
|
MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT = 59
|
|
MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT = 60
|
|
MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST = 61
|
|
MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT = 62
|
|
MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST = 63
|
|
MAVLINK_MSG_ID_STATE_CORRECTION = 64
|
|
MAVLINK_MSG_ID_REQUEST_DATA_STREAM = 66
|
|
MAVLINK_MSG_ID_DATA_STREAM = 67
|
|
MAVLINK_MSG_ID_MANUAL_CONTROL = 69
|
|
MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE = 70
|
|
MAVLINK_MSG_ID_VFR_HUD = 74
|
|
MAVLINK_MSG_ID_COMMAND_LONG = 76
|
|
MAVLINK_MSG_ID_COMMAND_ACK = 77
|
|
MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT = 80
|
|
MAVLINK_MSG_ID_MANUAL_SETPOINT = 81
|
|
MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET = 89
|
|
MAVLINK_MSG_ID_HIL_STATE = 90
|
|
MAVLINK_MSG_ID_HIL_CONTROLS = 91
|
|
MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW = 92
|
|
MAVLINK_MSG_ID_OPTICAL_FLOW = 100
|
|
MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE = 101
|
|
MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE = 102
|
|
MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE = 103
|
|
MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE = 104
|
|
MAVLINK_MSG_ID_HIGHRES_IMU = 105
|
|
MAVLINK_MSG_ID_FILE_TRANSFER_START = 110
|
|
MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST = 111
|
|
MAVLINK_MSG_ID_FILE_TRANSFER_RES = 112
|
|
MAVLINK_MSG_ID_BATTERY_STATUS = 147
|
|
MAVLINK_MSG_ID_SETPOINT_8DOF = 148
|
|
MAVLINK_MSG_ID_SETPOINT_6DOF = 149
|
|
MAVLINK_MSG_ID_MEMORY_VECT = 249
|
|
MAVLINK_MSG_ID_DEBUG_VECT = 250
|
|
MAVLINK_MSG_ID_NAMED_VALUE_FLOAT = 251
|
|
MAVLINK_MSG_ID_NAMED_VALUE_INT = 252
|
|
MAVLINK_MSG_ID_STATUSTEXT = 253
|
|
MAVLINK_MSG_ID_DEBUG = 254
|
|
|
|
class MAVLink_heartbeat_message(MAVLink_message):
|
|
'''
|
|
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).
|
|
'''
|
|
def __init__(self, type, autopilot, base_mode, custom_mode, system_status, mavlink_version):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_HEARTBEAT, 'HEARTBEAT')
|
|
self._fieldnames = ['type', 'autopilot', 'base_mode', 'custom_mode', 'system_status', 'mavlink_version']
|
|
self.type = type
|
|
self.autopilot = autopilot
|
|
self.base_mode = base_mode
|
|
self.custom_mode = custom_mode
|
|
self.system_status = system_status
|
|
self.mavlink_version = mavlink_version
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 50, struct.pack('<IBBBBB', self.custom_mode, self.type, self.autopilot, self.base_mode, self.system_status, self.mavlink_version))
|
|
|
|
class MAVLink_sys_status_message(MAVLink_message):
|
|
'''
|
|
The general system state. If the system is following the
|
|
MAVLink standard, the system state is mainly defined by three
|
|
orthogonal states/modes: The system mode, which is either
|
|
LOCKED (motors shut down and locked), MANUAL (system under RC
|
|
control), GUIDED (system with autonomous position control,
|
|
position setpoint controlled manually) or AUTO (system guided
|
|
by path/waypoint planner). The NAV_MODE defined the current
|
|
flight state: LIFTOFF (often an open-loop maneuver), LANDING,
|
|
WAYPOINTS or VECTOR. This represents the internal navigation
|
|
state machine. The system status shows wether the system is
|
|
currently active or not and if an emergency occured. During
|
|
the CRITICAL and EMERGENCY states the MAV is still considered
|
|
to be active, but should start emergency procedures
|
|
autonomously. After a failure occured it should first move
|
|
from active to critical to allow manual intervention and then
|
|
move to emergency after a certain timeout.
|
|
'''
|
|
def __init__(self, onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYS_STATUS, 'SYS_STATUS')
|
|
self._fieldnames = ['onboard_control_sensors_present', 'onboard_control_sensors_enabled', 'onboard_control_sensors_health', 'load', 'voltage_battery', 'current_battery', 'battery_remaining', 'drop_rate_comm', 'errors_comm', 'errors_count1', 'errors_count2', 'errors_count3', 'errors_count4']
|
|
self.onboard_control_sensors_present = onboard_control_sensors_present
|
|
self.onboard_control_sensors_enabled = onboard_control_sensors_enabled
|
|
self.onboard_control_sensors_health = onboard_control_sensors_health
|
|
self.load = load
|
|
self.voltage_battery = voltage_battery
|
|
self.current_battery = current_battery
|
|
self.battery_remaining = battery_remaining
|
|
self.drop_rate_comm = drop_rate_comm
|
|
self.errors_comm = errors_comm
|
|
self.errors_count1 = errors_count1
|
|
self.errors_count2 = errors_count2
|
|
self.errors_count3 = errors_count3
|
|
self.errors_count4 = errors_count4
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 124, struct.pack('<IIIHHhHHHHHHb', self.onboard_control_sensors_present, self.onboard_control_sensors_enabled, self.onboard_control_sensors_health, self.load, self.voltage_battery, self.current_battery, self.drop_rate_comm, self.errors_comm, self.errors_count1, self.errors_count2, self.errors_count3, self.errors_count4, self.battery_remaining))
|
|
|
|
class MAVLink_system_time_message(MAVLink_message):
|
|
'''
|
|
The system time is the time of the master clock, typically the
|
|
computer clock of the main onboard computer.
|
|
'''
|
|
def __init__(self, time_unix_usec, time_boot_ms):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYSTEM_TIME, 'SYSTEM_TIME')
|
|
self._fieldnames = ['time_unix_usec', 'time_boot_ms']
|
|
self.time_unix_usec = time_unix_usec
|
|
self.time_boot_ms = time_boot_ms
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 137, struct.pack('<QI', self.time_unix_usec, self.time_boot_ms))
|
|
|
|
class MAVLink_ping_message(MAVLink_message):
|
|
'''
|
|
A ping message either requesting or responding to a ping. This
|
|
allows to measure the system latencies, including serial port,
|
|
radio modem and UDP connections.
|
|
'''
|
|
def __init__(self, time_usec, seq, target_system, target_component):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_PING, 'PING')
|
|
self._fieldnames = ['time_usec', 'seq', 'target_system', 'target_component']
|
|
self.time_usec = time_usec
|
|
self.seq = seq
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 237, struct.pack('<QIBB', self.time_usec, self.seq, self.target_system, self.target_component))
|
|
|
|
class MAVLink_change_operator_control_message(MAVLink_message):
|
|
'''
|
|
Request to control this MAV
|
|
'''
|
|
def __init__(self, target_system, control_request, version, passkey):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, 'CHANGE_OPERATOR_CONTROL')
|
|
self._fieldnames = ['target_system', 'control_request', 'version', 'passkey']
|
|
self.target_system = target_system
|
|
self.control_request = control_request
|
|
self.version = version
|
|
self.passkey = passkey
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 217, struct.pack('<BBB25s', self.target_system, self.control_request, self.version, self.passkey))
|
|
|
|
class MAVLink_change_operator_control_ack_message(MAVLink_message):
|
|
'''
|
|
Accept / deny control of this MAV
|
|
'''
|
|
def __init__(self, gcs_system_id, control_request, ack):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, 'CHANGE_OPERATOR_CONTROL_ACK')
|
|
self._fieldnames = ['gcs_system_id', 'control_request', 'ack']
|
|
self.gcs_system_id = gcs_system_id
|
|
self.control_request = control_request
|
|
self.ack = ack
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 104, struct.pack('<BBB', self.gcs_system_id, self.control_request, self.ack))
|
|
|
|
class MAVLink_auth_key_message(MAVLink_message):
|
|
'''
|
|
Emit an encrypted signature / key identifying this system.
|
|
PLEASE NOTE: This protocol has been kept simple, so
|
|
transmitting the key requires an encrypted channel for true
|
|
safety.
|
|
'''
|
|
def __init__(self, key):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_AUTH_KEY, 'AUTH_KEY')
|
|
self._fieldnames = ['key']
|
|
self.key = key
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 119, struct.pack('<32s', self.key))
|
|
|
|
class MAVLink_set_mode_message(MAVLink_message):
|
|
'''
|
|
Set the system mode, as defined by enum MAV_MODE. There is no
|
|
target component id as the mode is by definition for the
|
|
overall aircraft, not only for one component.
|
|
'''
|
|
def __init__(self, target_system, base_mode, custom_mode):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_MODE, 'SET_MODE')
|
|
self._fieldnames = ['target_system', 'base_mode', 'custom_mode']
|
|
self.target_system = target_system
|
|
self.base_mode = base_mode
|
|
self.custom_mode = custom_mode
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 89, struct.pack('<IBB', self.custom_mode, self.target_system, self.base_mode))
|
|
|
|
class MAVLink_param_request_read_message(MAVLink_message):
|
|
'''
|
|
Request to read the onboard parameter with the param_id string
|
|
id. Onboard parameters are stored as key[const char*] ->
|
|
value[float]. This allows to send a parameter to any other
|
|
component (such as the GCS) without the need of previous
|
|
knowledge of possible parameter names. Thus the same GCS can
|
|
store different parameters for different autopilots. See also
|
|
http://qgroundcontrol.org/parameter_interface for a full
|
|
documentation of QGroundControl and IMU code.
|
|
'''
|
|
def __init__(self, target_system, target_component, param_id, param_index):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_REQUEST_READ, 'PARAM_REQUEST_READ')
|
|
self._fieldnames = ['target_system', 'target_component', 'param_id', 'param_index']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
self.param_id = param_id
|
|
self.param_index = param_index
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 214, struct.pack('<hBB16s', self.param_index, self.target_system, self.target_component, self.param_id))
|
|
|
|
class MAVLink_param_request_list_message(MAVLink_message):
|
|
'''
|
|
Request all parameters of this component. After his request,
|
|
all parameters are emitted.
|
|
'''
|
|
def __init__(self, target_system, target_component):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, 'PARAM_REQUEST_LIST')
|
|
self._fieldnames = ['target_system', 'target_component']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 159, struct.pack('<BB', self.target_system, self.target_component))
|
|
|
|
class MAVLink_param_value_message(MAVLink_message):
|
|
'''
|
|
Emit the value of a onboard parameter. The inclusion of
|
|
param_count and param_index in the message allows the
|
|
recipient to keep track of received parameters and allows him
|
|
to re-request missing parameters after a loss or timeout.
|
|
'''
|
|
def __init__(self, param_id, param_value, param_type, param_count, param_index):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_VALUE, 'PARAM_VALUE')
|
|
self._fieldnames = ['param_id', 'param_value', 'param_type', 'param_count', 'param_index']
|
|
self.param_id = param_id
|
|
self.param_value = param_value
|
|
self.param_type = param_type
|
|
self.param_count = param_count
|
|
self.param_index = param_index
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 220, struct.pack('<fHH16sB', self.param_value, self.param_count, self.param_index, self.param_id, self.param_type))
|
|
|
|
class MAVLink_param_set_message(MAVLink_message):
|
|
'''
|
|
Set a parameter value TEMPORARILY to RAM. It will be reset to
|
|
default on system reboot. Send the ACTION
|
|
MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM contents
|
|
to EEPROM. IMPORTANT: The receiving component should
|
|
acknowledge the new parameter value by sending a param_value
|
|
message to all communication partners. This will also ensure
|
|
that multiple GCS all have an up-to-date list of all
|
|
parameters. If the sending GCS did not receive a PARAM_VALUE
|
|
message within its timeout time, it should re-send the
|
|
PARAM_SET message.
|
|
'''
|
|
def __init__(self, target_system, target_component, param_id, param_value, param_type):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_SET, 'PARAM_SET')
|
|
self._fieldnames = ['target_system', 'target_component', 'param_id', 'param_value', 'param_type']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
self.param_id = param_id
|
|
self.param_value = param_value
|
|
self.param_type = param_type
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 168, struct.pack('<fBB16sB', self.param_value, self.target_system, self.target_component, self.param_id, self.param_type))
|
|
|
|
class MAVLink_gps_raw_int_message(MAVLink_message):
|
|
'''
|
|
The global position, as returned by the Global Positioning
|
|
System (GPS). This is NOT the global position
|
|
estimate of the system, 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).
|
|
'''
|
|
def __init__(self, time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_RAW_INT, 'GPS_RAW_INT')
|
|
self._fieldnames = ['time_usec', 'fix_type', 'lat', 'lon', 'alt', 'eph', 'epv', 'vel', 'cog', 'satellites_visible']
|
|
self.time_usec = time_usec
|
|
self.fix_type = fix_type
|
|
self.lat = lat
|
|
self.lon = lon
|
|
self.alt = alt
|
|
self.eph = eph
|
|
self.epv = epv
|
|
self.vel = vel
|
|
self.cog = cog
|
|
self.satellites_visible = satellites_visible
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 24, struct.pack('<QiiiHHHHBB', self.time_usec, self.lat, self.lon, self.alt, self.eph, self.epv, self.vel, self.cog, self.fix_type, self.satellites_visible))
|
|
|
|
class MAVLink_gps_status_message(MAVLink_message):
|
|
'''
|
|
The positioning status, as reported by GPS. This message is
|
|
intended to display status information about each satellite
|
|
visible to the receiver. See message GLOBAL_POSITION for the
|
|
global position estimate. This message can contain information
|
|
for up to 20 satellites.
|
|
'''
|
|
def __init__(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_STATUS, 'GPS_STATUS')
|
|
self._fieldnames = ['satellites_visible', 'satellite_prn', 'satellite_used', 'satellite_elevation', 'satellite_azimuth', 'satellite_snr']
|
|
self.satellites_visible = satellites_visible
|
|
self.satellite_prn = satellite_prn
|
|
self.satellite_used = satellite_used
|
|
self.satellite_elevation = satellite_elevation
|
|
self.satellite_azimuth = satellite_azimuth
|
|
self.satellite_snr = satellite_snr
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 23, struct.pack('<B20s20s20s20s20s', self.satellites_visible, self.satellite_prn, self.satellite_used, self.satellite_elevation, self.satellite_azimuth, self.satellite_snr))
|
|
|
|
class MAVLink_scaled_imu_message(MAVLink_message):
|
|
'''
|
|
The RAW IMU readings for the usual 9DOF sensor setup. This
|
|
message should contain the scaled values to the described
|
|
units
|
|
'''
|
|
def __init__(self, time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SCALED_IMU, 'SCALED_IMU')
|
|
self._fieldnames = ['time_boot_ms', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.xacc = xacc
|
|
self.yacc = yacc
|
|
self.zacc = zacc
|
|
self.xgyro = xgyro
|
|
self.ygyro = ygyro
|
|
self.zgyro = zgyro
|
|
self.xmag = xmag
|
|
self.ymag = ymag
|
|
self.zmag = zmag
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 170, struct.pack('<Ihhhhhhhhh', self.time_boot_ms, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag))
|
|
|
|
class MAVLink_raw_imu_message(MAVLink_message):
|
|
'''
|
|
The RAW IMU readings for the usual 9DOF sensor setup. This
|
|
message should always contain the true raw values without any
|
|
scaling to allow data capture and system debugging.
|
|
'''
|
|
def __init__(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_RAW_IMU, 'RAW_IMU')
|
|
self._fieldnames = ['time_usec', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag']
|
|
self.time_usec = time_usec
|
|
self.xacc = xacc
|
|
self.yacc = yacc
|
|
self.zacc = zacc
|
|
self.xgyro = xgyro
|
|
self.ygyro = ygyro
|
|
self.zgyro = zgyro
|
|
self.xmag = xmag
|
|
self.ymag = ymag
|
|
self.zmag = zmag
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 144, struct.pack('<Qhhhhhhhhh', self.time_usec, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag))
|
|
|
|
class MAVLink_raw_pressure_message(MAVLink_message):
|
|
'''
|
|
The RAW pressure readings for the typical setup of one
|
|
absolute pressure and one differential pressure sensor. The
|
|
sensor values should be the raw, UNSCALED ADC values.
|
|
'''
|
|
def __init__(self, time_usec, press_abs, press_diff1, press_diff2, temperature):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_RAW_PRESSURE, 'RAW_PRESSURE')
|
|
self._fieldnames = ['time_usec', 'press_abs', 'press_diff1', 'press_diff2', 'temperature']
|
|
self.time_usec = time_usec
|
|
self.press_abs = press_abs
|
|
self.press_diff1 = press_diff1
|
|
self.press_diff2 = press_diff2
|
|
self.temperature = temperature
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 67, struct.pack('<Qhhhh', self.time_usec, self.press_abs, self.press_diff1, self.press_diff2, self.temperature))
|
|
|
|
class MAVLink_scaled_pressure_message(MAVLink_message):
|
|
'''
|
|
The pressure readings for the typical setup of one absolute
|
|
and differential pressure sensor. The units are as specified
|
|
in each field.
|
|
'''
|
|
def __init__(self, time_boot_ms, press_abs, press_diff, temperature):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SCALED_PRESSURE, 'SCALED_PRESSURE')
|
|
self._fieldnames = ['time_boot_ms', 'press_abs', 'press_diff', 'temperature']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.press_abs = press_abs
|
|
self.press_diff = press_diff
|
|
self.temperature = temperature
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 115, struct.pack('<Iffh', self.time_boot_ms, self.press_abs, self.press_diff, self.temperature))
|
|
|
|
class MAVLink_attitude_message(MAVLink_message):
|
|
'''
|
|
The attitude in the aeronautical frame (right-handed, Z-down,
|
|
X-front, Y-right).
|
|
'''
|
|
def __init__(self, time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_ATTITUDE, 'ATTITUDE')
|
|
self._fieldnames = ['time_boot_ms', 'roll', 'pitch', 'yaw', 'rollspeed', 'pitchspeed', 'yawspeed']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.roll = roll
|
|
self.pitch = pitch
|
|
self.yaw = yaw
|
|
self.rollspeed = rollspeed
|
|
self.pitchspeed = pitchspeed
|
|
self.yawspeed = yawspeed
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 39, struct.pack('<Iffffff', self.time_boot_ms, self.roll, self.pitch, self.yaw, self.rollspeed, self.pitchspeed, self.yawspeed))
|
|
|
|
class MAVLink_attitude_quaternion_message(MAVLink_message):
|
|
'''
|
|
The attitude in the aeronautical frame (right-handed, Z-down,
|
|
X-front, Y-right), expressed as quaternion.
|
|
'''
|
|
def __init__(self, time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, 'ATTITUDE_QUATERNION')
|
|
self._fieldnames = ['time_boot_ms', 'q1', 'q2', 'q3', 'q4', 'rollspeed', 'pitchspeed', 'yawspeed']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.q1 = q1
|
|
self.q2 = q2
|
|
self.q3 = q3
|
|
self.q4 = q4
|
|
self.rollspeed = rollspeed
|
|
self.pitchspeed = pitchspeed
|
|
self.yawspeed = yawspeed
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 246, struct.pack('<Ifffffff', self.time_boot_ms, self.q1, self.q2, self.q3, self.q4, self.rollspeed, self.pitchspeed, self.yawspeed))
|
|
|
|
class MAVLink_local_position_ned_message(MAVLink_message):
|
|
'''
|
|
The filtered local position (e.g. fused computer vision and
|
|
accelerometers). Coordinate frame is right-handed, Z-axis down
|
|
(aeronautical frame, NED / north-east-down convention)
|
|
'''
|
|
def __init__(self, time_boot_ms, x, y, z, vx, vy, vz):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_NED, 'LOCAL_POSITION_NED')
|
|
self._fieldnames = ['time_boot_ms', 'x', 'y', 'z', 'vx', 'vy', 'vz']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.x = x
|
|
self.y = y
|
|
self.z = z
|
|
self.vx = vx
|
|
self.vy = vy
|
|
self.vz = vz
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 185, struct.pack('<Iffffff', self.time_boot_ms, self.x, self.y, self.z, self.vx, self.vy, self.vz))
|
|
|
|
class MAVLink_global_position_int_message(MAVLink_message):
|
|
'''
|
|
The filtered global position (e.g. fused GPS and
|
|
accelerometers). The position is in GPS-frame (right-handed,
|
|
Z-up). It is designed as scaled integer message
|
|
since the resolution of float is not sufficient.
|
|
'''
|
|
def __init__(self, time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, 'GLOBAL_POSITION_INT')
|
|
self._fieldnames = ['time_boot_ms', 'lat', 'lon', 'alt', 'relative_alt', 'vx', 'vy', 'vz', 'hdg']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.lat = lat
|
|
self.lon = lon
|
|
self.alt = alt
|
|
self.relative_alt = relative_alt
|
|
self.vx = vx
|
|
self.vy = vy
|
|
self.vz = vz
|
|
self.hdg = hdg
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 104, struct.pack('<IiiiihhhH', self.time_boot_ms, self.lat, self.lon, self.alt, self.relative_alt, self.vx, self.vy, self.vz, self.hdg))
|
|
|
|
class MAVLink_rc_channels_scaled_message(MAVLink_message):
|
|
'''
|
|
The scaled values of the RC channels received. (-100%) -10000,
|
|
(0%) 0, (100%) 10000. Channels that are inactive should be set
|
|
to 65535.
|
|
'''
|
|
def __init__(self, time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, 'RC_CHANNELS_SCALED')
|
|
self._fieldnames = ['time_boot_ms', 'port', 'chan1_scaled', 'chan2_scaled', 'chan3_scaled', 'chan4_scaled', 'chan5_scaled', 'chan6_scaled', 'chan7_scaled', 'chan8_scaled', 'rssi']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.port = port
|
|
self.chan1_scaled = chan1_scaled
|
|
self.chan2_scaled = chan2_scaled
|
|
self.chan3_scaled = chan3_scaled
|
|
self.chan4_scaled = chan4_scaled
|
|
self.chan5_scaled = chan5_scaled
|
|
self.chan6_scaled = chan6_scaled
|
|
self.chan7_scaled = chan7_scaled
|
|
self.chan8_scaled = chan8_scaled
|
|
self.rssi = rssi
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 237, struct.pack('<IhhhhhhhhBB', self.time_boot_ms, self.chan1_scaled, self.chan2_scaled, self.chan3_scaled, self.chan4_scaled, self.chan5_scaled, self.chan6_scaled, self.chan7_scaled, self.chan8_scaled, self.port, self.rssi))
|
|
|
|
class MAVLink_rc_channels_raw_message(MAVLink_message):
|
|
'''
|
|
The RAW values of the RC channels received. The standard PPM
|
|
modulation is as follows: 1000 microseconds: 0%, 2000
|
|
microseconds: 100%. Individual receivers/transmitters might
|
|
violate this specification.
|
|
'''
|
|
def __init__(self, time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_RAW, 'RC_CHANNELS_RAW')
|
|
self._fieldnames = ['time_boot_ms', 'port', 'chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw', 'rssi']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.port = port
|
|
self.chan1_raw = chan1_raw
|
|
self.chan2_raw = chan2_raw
|
|
self.chan3_raw = chan3_raw
|
|
self.chan4_raw = chan4_raw
|
|
self.chan5_raw = chan5_raw
|
|
self.chan6_raw = chan6_raw
|
|
self.chan7_raw = chan7_raw
|
|
self.chan8_raw = chan8_raw
|
|
self.rssi = rssi
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 244, struct.pack('<IHHHHHHHHBB', self.time_boot_ms, self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw, self.port, self.rssi))
|
|
|
|
class MAVLink_servo_output_raw_message(MAVLink_message):
|
|
'''
|
|
The RAW values of the servo outputs (for RC input from the
|
|
remote, use the RC_CHANNELS messages). The standard PPM
|
|
modulation is as follows: 1000 microseconds: 0%, 2000
|
|
microseconds: 100%.
|
|
'''
|
|
def __init__(self, time_boot_ms, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 'SERVO_OUTPUT_RAW')
|
|
self._fieldnames = ['time_boot_ms', 'port', 'servo1_raw', 'servo2_raw', 'servo3_raw', 'servo4_raw', 'servo5_raw', 'servo6_raw', 'servo7_raw', 'servo8_raw']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.port = port
|
|
self.servo1_raw = servo1_raw
|
|
self.servo2_raw = servo2_raw
|
|
self.servo3_raw = servo3_raw
|
|
self.servo4_raw = servo4_raw
|
|
self.servo5_raw = servo5_raw
|
|
self.servo6_raw = servo6_raw
|
|
self.servo7_raw = servo7_raw
|
|
self.servo8_raw = servo8_raw
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 242, struct.pack('<IHHHHHHHHB', self.time_boot_ms, self.servo1_raw, self.servo2_raw, self.servo3_raw, self.servo4_raw, self.servo5_raw, self.servo6_raw, self.servo7_raw, self.servo8_raw, self.port))
|
|
|
|
class MAVLink_mission_request_partial_list_message(MAVLink_message):
|
|
'''
|
|
Request a partial list of mission items from the
|
|
system/component.
|
|
http://qgroundcontrol.org/mavlink/waypoint_protocol. If start
|
|
and end index are the same, just send one waypoint.
|
|
'''
|
|
def __init__(self, target_system, target_component, start_index, end_index):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST, 'MISSION_REQUEST_PARTIAL_LIST')
|
|
self._fieldnames = ['target_system', 'target_component', 'start_index', 'end_index']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
self.start_index = start_index
|
|
self.end_index = end_index
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 212, struct.pack('<hhBB', self.start_index, self.end_index, self.target_system, self.target_component))
|
|
|
|
class MAVLink_mission_write_partial_list_message(MAVLink_message):
|
|
'''
|
|
This message is sent to the MAV to write a partial list. If
|
|
start index == end index, only one item will be transmitted /
|
|
updated. If the start index is NOT 0 and above the current
|
|
list size, this request should be REJECTED!
|
|
'''
|
|
def __init__(self, target_system, target_component, start_index, end_index):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST, 'MISSION_WRITE_PARTIAL_LIST')
|
|
self._fieldnames = ['target_system', 'target_component', 'start_index', 'end_index']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
self.start_index = start_index
|
|
self.end_index = end_index
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 9, struct.pack('<hhBB', self.start_index, self.end_index, self.target_system, self.target_component))
|
|
|
|
class MAVLink_mission_item_message(MAVLink_message):
|
|
'''
|
|
Message encoding a mission item. This message is emitted to
|
|
announce the presence of a mission item and to
|
|
set a mission item on the system. The mission item can be
|
|
either in x, y, z meters (type: LOCAL) or x:lat, y:lon,
|
|
z:altitude. Local frame is Z-down, right handed (NED), global
|
|
frame is Z-up, right handed (ENU). See also
|
|
http://qgroundcontrol.org/mavlink/waypoint_protocol.
|
|
'''
|
|
def __init__(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_ITEM, 'MISSION_ITEM')
|
|
self._fieldnames = ['target_system', 'target_component', 'seq', 'frame', 'command', 'current', 'autocontinue', 'param1', 'param2', 'param3', 'param4', 'x', 'y', 'z']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
self.seq = seq
|
|
self.frame = frame
|
|
self.command = command
|
|
self.current = current
|
|
self.autocontinue = autocontinue
|
|
self.param1 = param1
|
|
self.param2 = param2
|
|
self.param3 = param3
|
|
self.param4 = param4
|
|
self.x = x
|
|
self.y = y
|
|
self.z = z
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 254, struct.pack('<fffffffHHBBBBB', self.param1, self.param2, self.param3, self.param4, self.x, self.y, self.z, self.seq, self.command, self.target_system, self.target_component, self.frame, self.current, self.autocontinue))
|
|
|
|
class MAVLink_mission_request_message(MAVLink_message):
|
|
'''
|
|
Request the information of the mission item with the sequence
|
|
number seq. The response of the system to this message should
|
|
be a MISSION_ITEM message.
|
|
http://qgroundcontrol.org/mavlink/waypoint_protocol
|
|
'''
|
|
def __init__(self, target_system, target_component, seq):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_REQUEST, 'MISSION_REQUEST')
|
|
self._fieldnames = ['target_system', 'target_component', 'seq']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
self.seq = seq
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 230, struct.pack('<HBB', self.seq, self.target_system, self.target_component))
|
|
|
|
class MAVLink_mission_set_current_message(MAVLink_message):
|
|
'''
|
|
Set the mission item with sequence number seq as current item.
|
|
This means that the MAV will continue to this mission item on
|
|
the shortest path (not following the mission items in-
|
|
between).
|
|
'''
|
|
def __init__(self, target_system, target_component, seq):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_SET_CURRENT, 'MISSION_SET_CURRENT')
|
|
self._fieldnames = ['target_system', 'target_component', 'seq']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
self.seq = seq
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 28, struct.pack('<HBB', self.seq, self.target_system, self.target_component))
|
|
|
|
class MAVLink_mission_current_message(MAVLink_message):
|
|
'''
|
|
Message that announces the sequence number of the current
|
|
active mission item. The MAV will fly towards this mission
|
|
item.
|
|
'''
|
|
def __init__(self, seq):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_CURRENT, 'MISSION_CURRENT')
|
|
self._fieldnames = ['seq']
|
|
self.seq = seq
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 28, struct.pack('<H', self.seq))
|
|
|
|
class MAVLink_mission_request_list_message(MAVLink_message):
|
|
'''
|
|
Request the overall list of mission items from the
|
|
system/component.
|
|
'''
|
|
def __init__(self, target_system, target_component):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, 'MISSION_REQUEST_LIST')
|
|
self._fieldnames = ['target_system', 'target_component']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 132, struct.pack('<BB', self.target_system, self.target_component))
|
|
|
|
class MAVLink_mission_count_message(MAVLink_message):
|
|
'''
|
|
This message is emitted as response to MISSION_REQUEST_LIST by
|
|
the MAV and to initiate a write transaction. The GCS can then
|
|
request the individual mission item based on the knowledge of
|
|
the total number of MISSIONs.
|
|
'''
|
|
def __init__(self, target_system, target_component, count):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_COUNT, 'MISSION_COUNT')
|
|
self._fieldnames = ['target_system', 'target_component', 'count']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
self.count = count
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 221, struct.pack('<HBB', self.count, self.target_system, self.target_component))
|
|
|
|
class MAVLink_mission_clear_all_message(MAVLink_message):
|
|
'''
|
|
Delete all mission items at once.
|
|
'''
|
|
def __init__(self, target_system, target_component):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, 'MISSION_CLEAR_ALL')
|
|
self._fieldnames = ['target_system', 'target_component']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 232, struct.pack('<BB', self.target_system, self.target_component))
|
|
|
|
class MAVLink_mission_item_reached_message(MAVLink_message):
|
|
'''
|
|
A certain mission item has been reached. The system will
|
|
either hold this position (or circle on the orbit) or (if the
|
|
autocontinue on the WP was set) continue to the next MISSION.
|
|
'''
|
|
def __init__(self, seq):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, 'MISSION_ITEM_REACHED')
|
|
self._fieldnames = ['seq']
|
|
self.seq = seq
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 11, struct.pack('<H', self.seq))
|
|
|
|
class MAVLink_mission_ack_message(MAVLink_message):
|
|
'''
|
|
Ack message during MISSION handling. The type field states if
|
|
this message is a positive ack (type=0) or if an error
|
|
happened (type=non-zero).
|
|
'''
|
|
def __init__(self, target_system, target_component, type):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_ACK, 'MISSION_ACK')
|
|
self._fieldnames = ['target_system', 'target_component', 'type']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
self.type = type
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 153, struct.pack('<BBB', self.target_system, self.target_component, self.type))
|
|
|
|
class MAVLink_set_gps_global_origin_message(MAVLink_message):
|
|
'''
|
|
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.
|
|
'''
|
|
def __init__(self, target_system, latitude, longitude, altitude):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, 'SET_GPS_GLOBAL_ORIGIN')
|
|
self._fieldnames = ['target_system', 'latitude', 'longitude', 'altitude']
|
|
self.target_system = target_system
|
|
self.latitude = latitude
|
|
self.longitude = longitude
|
|
self.altitude = altitude
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 41, struct.pack('<iiiB', self.latitude, self.longitude, self.altitude, self.target_system))
|
|
|
|
class MAVLink_gps_global_origin_message(MAVLink_message):
|
|
'''
|
|
Once the MAV sets a new GPS-Local correspondence, this message
|
|
announces the origin (0,0,0) position
|
|
'''
|
|
def __init__(self, latitude, longitude, altitude):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, 'GPS_GLOBAL_ORIGIN')
|
|
self._fieldnames = ['latitude', 'longitude', 'altitude']
|
|
self.latitude = latitude
|
|
self.longitude = longitude
|
|
self.altitude = altitude
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 39, struct.pack('<iii', self.latitude, self.longitude, self.altitude))
|
|
|
|
class MAVLink_set_local_position_setpoint_message(MAVLink_message):
|
|
'''
|
|
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.
|
|
'''
|
|
def __init__(self, target_system, target_component, coordinate_frame, x, y, z, yaw):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, 'SET_LOCAL_POSITION_SETPOINT')
|
|
self._fieldnames = ['target_system', 'target_component', 'coordinate_frame', 'x', 'y', 'z', 'yaw']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
self.coordinate_frame = coordinate_frame
|
|
self.x = x
|
|
self.y = y
|
|
self.z = z
|
|
self.yaw = yaw
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 214, struct.pack('<ffffBBB', self.x, self.y, self.z, self.yaw, self.target_system, self.target_component, self.coordinate_frame))
|
|
|
|
class MAVLink_local_position_setpoint_message(MAVLink_message):
|
|
'''
|
|
Transmit the current local setpoint of the controller to other
|
|
MAVs (collision avoidance) and to the GCS.
|
|
'''
|
|
def __init__(self, coordinate_frame, x, y, z, yaw):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, 'LOCAL_POSITION_SETPOINT')
|
|
self._fieldnames = ['coordinate_frame', 'x', 'y', 'z', 'yaw']
|
|
self.coordinate_frame = coordinate_frame
|
|
self.x = x
|
|
self.y = y
|
|
self.z = z
|
|
self.yaw = yaw
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 223, struct.pack('<ffffB', self.x, self.y, self.z, self.yaw, self.coordinate_frame))
|
|
|
|
class MAVLink_global_position_setpoint_int_message(MAVLink_message):
|
|
'''
|
|
Transmit the current local setpoint of the controller to other
|
|
MAVs (collision avoidance) and to the GCS.
|
|
'''
|
|
def __init__(self, coordinate_frame, latitude, longitude, altitude, yaw):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, 'GLOBAL_POSITION_SETPOINT_INT')
|
|
self._fieldnames = ['coordinate_frame', 'latitude', 'longitude', 'altitude', 'yaw']
|
|
self.coordinate_frame = coordinate_frame
|
|
self.latitude = latitude
|
|
self.longitude = longitude
|
|
self.altitude = altitude
|
|
self.yaw = yaw
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 141, struct.pack('<iiihB', self.latitude, self.longitude, self.altitude, self.yaw, self.coordinate_frame))
|
|
|
|
class MAVLink_set_global_position_setpoint_int_message(MAVLink_message):
|
|
'''
|
|
Set the current global position setpoint.
|
|
'''
|
|
def __init__(self, coordinate_frame, latitude, longitude, altitude, yaw):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, 'SET_GLOBAL_POSITION_SETPOINT_INT')
|
|
self._fieldnames = ['coordinate_frame', 'latitude', 'longitude', 'altitude', 'yaw']
|
|
self.coordinate_frame = coordinate_frame
|
|
self.latitude = latitude
|
|
self.longitude = longitude
|
|
self.altitude = altitude
|
|
self.yaw = yaw
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 33, struct.pack('<iiihB', self.latitude, self.longitude, self.altitude, self.yaw, self.coordinate_frame))
|
|
|
|
class MAVLink_safety_set_allowed_area_message(MAVLink_message):
|
|
'''
|
|
Set a safety zone (volume), which is defined by two corners of
|
|
a cube. This message can be used to tell the MAV which
|
|
setpoints/MISSIONs to accept and which to reject. Safety areas
|
|
are often enforced by national or competition regulations.
|
|
'''
|
|
def __init__(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, 'SAFETY_SET_ALLOWED_AREA')
|
|
self._fieldnames = ['target_system', 'target_component', 'frame', 'p1x', 'p1y', 'p1z', 'p2x', 'p2y', 'p2z']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
self.frame = frame
|
|
self.p1x = p1x
|
|
self.p1y = p1y
|
|
self.p1z = p1z
|
|
self.p2x = p2x
|
|
self.p2y = p2y
|
|
self.p2z = p2z
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 15, struct.pack('<ffffffBBB', self.p1x, self.p1y, self.p1z, self.p2x, self.p2y, self.p2z, self.target_system, self.target_component, self.frame))
|
|
|
|
class MAVLink_safety_allowed_area_message(MAVLink_message):
|
|
'''
|
|
Read out the safety zone the MAV currently assumes.
|
|
'''
|
|
def __init__(self, frame, p1x, p1y, p1z, p2x, p2y, p2z):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, 'SAFETY_ALLOWED_AREA')
|
|
self._fieldnames = ['frame', 'p1x', 'p1y', 'p1z', 'p2x', 'p2y', 'p2z']
|
|
self.frame = frame
|
|
self.p1x = p1x
|
|
self.p1y = p1y
|
|
self.p1z = p1z
|
|
self.p2x = p2x
|
|
self.p2y = p2y
|
|
self.p2z = p2z
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 3, struct.pack('<ffffffB', self.p1x, self.p1y, self.p1z, self.p2x, self.p2y, self.p2z, self.frame))
|
|
|
|
class MAVLink_set_roll_pitch_yaw_thrust_message(MAVLink_message):
|
|
'''
|
|
Set roll, pitch and yaw.
|
|
'''
|
|
def __init__(self, target_system, target_component, roll, pitch, yaw, thrust):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, 'SET_ROLL_PITCH_YAW_THRUST')
|
|
self._fieldnames = ['target_system', 'target_component', 'roll', 'pitch', 'yaw', 'thrust']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
self.roll = roll
|
|
self.pitch = pitch
|
|
self.yaw = yaw
|
|
self.thrust = thrust
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 100, struct.pack('<ffffBB', self.roll, self.pitch, self.yaw, self.thrust, self.target_system, self.target_component))
|
|
|
|
class MAVLink_set_roll_pitch_yaw_speed_thrust_message(MAVLink_message):
|
|
'''
|
|
Set roll, pitch and yaw.
|
|
'''
|
|
def __init__(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, 'SET_ROLL_PITCH_YAW_SPEED_THRUST')
|
|
self._fieldnames = ['target_system', 'target_component', 'roll_speed', 'pitch_speed', 'yaw_speed', 'thrust']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
self.roll_speed = roll_speed
|
|
self.pitch_speed = pitch_speed
|
|
self.yaw_speed = yaw_speed
|
|
self.thrust = thrust
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 24, struct.pack('<ffffBB', self.roll_speed, self.pitch_speed, self.yaw_speed, self.thrust, self.target_system, self.target_component))
|
|
|
|
class MAVLink_roll_pitch_yaw_thrust_setpoint_message(MAVLink_message):
|
|
'''
|
|
Setpoint in roll, pitch, yaw currently active on the system.
|
|
'''
|
|
def __init__(self, time_boot_ms, roll, pitch, yaw, thrust):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, 'ROLL_PITCH_YAW_THRUST_SETPOINT')
|
|
self._fieldnames = ['time_boot_ms', 'roll', 'pitch', 'yaw', 'thrust']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.roll = roll
|
|
self.pitch = pitch
|
|
self.yaw = yaw
|
|
self.thrust = thrust
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 239, struct.pack('<Iffff', self.time_boot_ms, self.roll, self.pitch, self.yaw, self.thrust))
|
|
|
|
class MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message(MAVLink_message):
|
|
'''
|
|
Setpoint in rollspeed, pitchspeed, yawspeed currently active
|
|
on the system.
|
|
'''
|
|
def __init__(self, time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, 'ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT')
|
|
self._fieldnames = ['time_boot_ms', 'roll_speed', 'pitch_speed', 'yaw_speed', 'thrust']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.roll_speed = roll_speed
|
|
self.pitch_speed = pitch_speed
|
|
self.yaw_speed = yaw_speed
|
|
self.thrust = thrust
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 238, struct.pack('<Iffff', self.time_boot_ms, self.roll_speed, self.pitch_speed, self.yaw_speed, self.thrust))
|
|
|
|
class MAVLink_set_quad_motors_setpoint_message(MAVLink_message):
|
|
'''
|
|
Setpoint in the four motor speeds
|
|
'''
|
|
def __init__(self, target_system, motor_front_nw, motor_right_ne, motor_back_se, motor_left_sw):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT, 'SET_QUAD_MOTORS_SETPOINT')
|
|
self._fieldnames = ['target_system', 'motor_front_nw', 'motor_right_ne', 'motor_back_se', 'motor_left_sw']
|
|
self.target_system = target_system
|
|
self.motor_front_nw = motor_front_nw
|
|
self.motor_right_ne = motor_right_ne
|
|
self.motor_back_se = motor_back_se
|
|
self.motor_left_sw = motor_left_sw
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 30, struct.pack('<HHHHB', self.motor_front_nw, self.motor_right_ne, self.motor_back_se, self.motor_left_sw, self.target_system))
|
|
|
|
class MAVLink_set_quad_swarm_roll_pitch_yaw_thrust_message(MAVLink_message):
|
|
'''
|
|
Setpoint for up to four quadrotors in a group / wing
|
|
'''
|
|
def __init__(self, group, mode, roll, pitch, yaw, thrust):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, 'SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST')
|
|
self._fieldnames = ['group', 'mode', 'roll', 'pitch', 'yaw', 'thrust']
|
|
self.group = group
|
|
self.mode = mode
|
|
self.roll = roll
|
|
self.pitch = pitch
|
|
self.yaw = yaw
|
|
self.thrust = thrust
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 240, struct.pack('<4h4h4h4HBB', self.roll, self.pitch, self.yaw, self.thrust, self.group, self.mode))
|
|
|
|
class MAVLink_nav_controller_output_message(MAVLink_message):
|
|
'''
|
|
Outputs of the APM navigation controller. The primary use of
|
|
this message is to check the response and signs of the
|
|
controller before actual flight and to assist with tuning
|
|
controller parameters.
|
|
'''
|
|
def __init__(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, 'NAV_CONTROLLER_OUTPUT')
|
|
self._fieldnames = ['nav_roll', 'nav_pitch', 'nav_bearing', 'target_bearing', 'wp_dist', 'alt_error', 'aspd_error', 'xtrack_error']
|
|
self.nav_roll = nav_roll
|
|
self.nav_pitch = nav_pitch
|
|
self.nav_bearing = nav_bearing
|
|
self.target_bearing = target_bearing
|
|
self.wp_dist = wp_dist
|
|
self.alt_error = alt_error
|
|
self.aspd_error = aspd_error
|
|
self.xtrack_error = xtrack_error
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 183, struct.pack('<fffffhhH', self.nav_roll, self.nav_pitch, self.alt_error, self.aspd_error, self.xtrack_error, self.nav_bearing, self.target_bearing, self.wp_dist))
|
|
|
|
class MAVLink_set_quad_swarm_led_roll_pitch_yaw_thrust_message(MAVLink_message):
|
|
'''
|
|
Setpoint for up to four quadrotors in a group / wing
|
|
'''
|
|
def __init__(self, group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, 'SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST')
|
|
self._fieldnames = ['group', 'mode', 'led_red', 'led_blue', 'led_green', 'roll', 'pitch', 'yaw', 'thrust']
|
|
self.group = group
|
|
self.mode = mode
|
|
self.led_red = led_red
|
|
self.led_blue = led_blue
|
|
self.led_green = led_green
|
|
self.roll = roll
|
|
self.pitch = pitch
|
|
self.yaw = yaw
|
|
self.thrust = thrust
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 130, struct.pack('<4h4h4h4HBB4s4s4s', self.roll, self.pitch, self.yaw, self.thrust, self.group, self.mode, self.led_red, self.led_blue, self.led_green))
|
|
|
|
class MAVLink_state_correction_message(MAVLink_message):
|
|
'''
|
|
Corrects the systems state by adding an error correction term
|
|
to the position and velocity, and by rotating the attitude by
|
|
a correction angle.
|
|
'''
|
|
def __init__(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_STATE_CORRECTION, 'STATE_CORRECTION')
|
|
self._fieldnames = ['xErr', 'yErr', 'zErr', 'rollErr', 'pitchErr', 'yawErr', 'vxErr', 'vyErr', 'vzErr']
|
|
self.xErr = xErr
|
|
self.yErr = yErr
|
|
self.zErr = zErr
|
|
self.rollErr = rollErr
|
|
self.pitchErr = pitchErr
|
|
self.yawErr = yawErr
|
|
self.vxErr = vxErr
|
|
self.vyErr = vyErr
|
|
self.vzErr = vzErr
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 130, struct.pack('<fffffffff', self.xErr, self.yErr, self.zErr, self.rollErr, self.pitchErr, self.yawErr, self.vxErr, self.vyErr, self.vzErr))
|
|
|
|
class MAVLink_request_data_stream_message(MAVLink_message):
|
|
'''
|
|
|
|
'''
|
|
def __init__(self, target_system, target_component, req_stream_id, req_message_rate, start_stop):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, 'REQUEST_DATA_STREAM')
|
|
self._fieldnames = ['target_system', 'target_component', 'req_stream_id', 'req_message_rate', 'start_stop']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
self.req_stream_id = req_stream_id
|
|
self.req_message_rate = req_message_rate
|
|
self.start_stop = start_stop
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 148, struct.pack('<HBBBB', self.req_message_rate, self.target_system, self.target_component, self.req_stream_id, self.start_stop))
|
|
|
|
class MAVLink_data_stream_message(MAVLink_message):
|
|
'''
|
|
|
|
'''
|
|
def __init__(self, stream_id, message_rate, on_off):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_DATA_STREAM, 'DATA_STREAM')
|
|
self._fieldnames = ['stream_id', 'message_rate', 'on_off']
|
|
self.stream_id = stream_id
|
|
self.message_rate = message_rate
|
|
self.on_off = on_off
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 21, struct.pack('<HBB', self.message_rate, self.stream_id, self.on_off))
|
|
|
|
class MAVLink_manual_control_message(MAVLink_message):
|
|
'''
|
|
This message provides an API for manually controlling the
|
|
vehicle using standard joystick axes nomenclature, along with
|
|
a joystick-like input device. Unused axes can be disabled an
|
|
buttons are also transmit as boolean values of their
|
|
'''
|
|
def __init__(self, target, x, y, z, r, buttons):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_MANUAL_CONTROL, 'MANUAL_CONTROL')
|
|
self._fieldnames = ['target', 'x', 'y', 'z', 'r', 'buttons']
|
|
self.target = target
|
|
self.x = x
|
|
self.y = y
|
|
self.z = z
|
|
self.r = r
|
|
self.buttons = buttons
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 243, struct.pack('<hhhhHB', self.x, self.y, self.z, self.r, self.buttons, self.target))
|
|
|
|
class MAVLink_rc_channels_override_message(MAVLink_message):
|
|
'''
|
|
The RAW values of the RC channels sent to the MAV to override
|
|
info received from the RC radio. A value of -1 means no change
|
|
to that channel. A value of 0 means control of that channel
|
|
should be released back to the RC radio. The standard PPM
|
|
modulation is as follows: 1000 microseconds: 0%, 2000
|
|
microseconds: 100%. Individual receivers/transmitters might
|
|
violate this specification.
|
|
'''
|
|
def __init__(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, 'RC_CHANNELS_OVERRIDE')
|
|
self._fieldnames = ['target_system', 'target_component', 'chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
self.chan1_raw = chan1_raw
|
|
self.chan2_raw = chan2_raw
|
|
self.chan3_raw = chan3_raw
|
|
self.chan4_raw = chan4_raw
|
|
self.chan5_raw = chan5_raw
|
|
self.chan6_raw = chan6_raw
|
|
self.chan7_raw = chan7_raw
|
|
self.chan8_raw = chan8_raw
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 124, struct.pack('<HHHHHHHHBB', self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw, self.target_system, self.target_component))
|
|
|
|
class MAVLink_vfr_hud_message(MAVLink_message):
|
|
'''
|
|
Metrics typically displayed on a HUD for fixed wing aircraft
|
|
'''
|
|
def __init__(self, airspeed, groundspeed, heading, throttle, alt, climb):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_VFR_HUD, 'VFR_HUD')
|
|
self._fieldnames = ['airspeed', 'groundspeed', 'heading', 'throttle', 'alt', 'climb']
|
|
self.airspeed = airspeed
|
|
self.groundspeed = groundspeed
|
|
self.heading = heading
|
|
self.throttle = throttle
|
|
self.alt = alt
|
|
self.climb = climb
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 20, struct.pack('<ffffhH', self.airspeed, self.groundspeed, self.alt, self.climb, self.heading, self.throttle))
|
|
|
|
class MAVLink_command_long_message(MAVLink_message):
|
|
'''
|
|
Send a command with up to four parameters to the MAV
|
|
'''
|
|
def __init__(self, target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_COMMAND_LONG, 'COMMAND_LONG')
|
|
self._fieldnames = ['target_system', 'target_component', 'command', 'confirmation', 'param1', 'param2', 'param3', 'param4', 'param5', 'param6', 'param7']
|
|
self.target_system = target_system
|
|
self.target_component = target_component
|
|
self.command = command
|
|
self.confirmation = confirmation
|
|
self.param1 = param1
|
|
self.param2 = param2
|
|
self.param3 = param3
|
|
self.param4 = param4
|
|
self.param5 = param5
|
|
self.param6 = param6
|
|
self.param7 = param7
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 152, struct.pack('<fffffffHBBB', self.param1, self.param2, self.param3, self.param4, self.param5, self.param6, self.param7, self.command, self.target_system, self.target_component, self.confirmation))
|
|
|
|
class MAVLink_command_ack_message(MAVLink_message):
|
|
'''
|
|
Report status of a command. Includes feedback wether the
|
|
command was executed.
|
|
'''
|
|
def __init__(self, command, result):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_COMMAND_ACK, 'COMMAND_ACK')
|
|
self._fieldnames = ['command', 'result']
|
|
self.command = command
|
|
self.result = result
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 143, struct.pack('<HB', self.command, self.result))
|
|
|
|
class MAVLink_roll_pitch_yaw_rates_thrust_setpoint_message(MAVLink_message):
|
|
'''
|
|
Setpoint in roll, pitch, yaw rates and thrust currently active
|
|
on the system.
|
|
'''
|
|
def __init__(self, time_boot_ms, roll_rate, pitch_rate, yaw_rate, thrust):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, 'ROLL_PITCH_YAW_RATES_THRUST_SETPOINT')
|
|
self._fieldnames = ['time_boot_ms', 'roll_rate', 'pitch_rate', 'yaw_rate', 'thrust']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.roll_rate = roll_rate
|
|
self.pitch_rate = pitch_rate
|
|
self.yaw_rate = yaw_rate
|
|
self.thrust = thrust
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 127, struct.pack('<Iffff', self.time_boot_ms, self.roll_rate, self.pitch_rate, self.yaw_rate, self.thrust))
|
|
|
|
class MAVLink_manual_setpoint_message(MAVLink_message):
|
|
'''
|
|
Setpoint in roll, pitch, yaw and thrust from the operator
|
|
'''
|
|
def __init__(self, time_boot_ms, roll, pitch, yaw, thrust, mode_switch, manual_override_switch):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_MANUAL_SETPOINT, 'MANUAL_SETPOINT')
|
|
self._fieldnames = ['time_boot_ms', 'roll', 'pitch', 'yaw', 'thrust', 'mode_switch', 'manual_override_switch']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.roll = roll
|
|
self.pitch = pitch
|
|
self.yaw = yaw
|
|
self.thrust = thrust
|
|
self.mode_switch = mode_switch
|
|
self.manual_override_switch = manual_override_switch
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 106, struct.pack('<IffffBB', self.time_boot_ms, self.roll, self.pitch, self.yaw, self.thrust, self.mode_switch, self.manual_override_switch))
|
|
|
|
class MAVLink_local_position_ned_system_global_offset_message(MAVLink_message):
|
|
'''
|
|
The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED
|
|
messages of MAV X and the global coordinate frame in NED
|
|
coordinates. Coordinate frame is right-handed, Z-axis down
|
|
(aeronautical frame, NED / north-east-down convention)
|
|
'''
|
|
def __init__(self, time_boot_ms, x, y, z, roll, pitch, yaw):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, 'LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET')
|
|
self._fieldnames = ['time_boot_ms', 'x', 'y', 'z', 'roll', 'pitch', 'yaw']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.x = x
|
|
self.y = y
|
|
self.z = z
|
|
self.roll = roll
|
|
self.pitch = pitch
|
|
self.yaw = yaw
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 231, struct.pack('<Iffffff', self.time_boot_ms, self.x, self.y, self.z, self.roll, self.pitch, self.yaw))
|
|
|
|
class MAVLink_hil_state_message(MAVLink_message):
|
|
'''
|
|
Sent from simulation to autopilot. This packet is useful for
|
|
high throughput applications such as hardware in the loop
|
|
simulations.
|
|
'''
|
|
def __init__(self, time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_STATE, 'HIL_STATE')
|
|
self._fieldnames = ['time_usec', 'roll', 'pitch', 'yaw', 'rollspeed', 'pitchspeed', 'yawspeed', 'lat', 'lon', 'alt', 'vx', 'vy', 'vz', 'xacc', 'yacc', 'zacc']
|
|
self.time_usec = time_usec
|
|
self.roll = roll
|
|
self.pitch = pitch
|
|
self.yaw = yaw
|
|
self.rollspeed = rollspeed
|
|
self.pitchspeed = pitchspeed
|
|
self.yawspeed = yawspeed
|
|
self.lat = lat
|
|
self.lon = lon
|
|
self.alt = alt
|
|
self.vx = vx
|
|
self.vy = vy
|
|
self.vz = vz
|
|
self.xacc = xacc
|
|
self.yacc = yacc
|
|
self.zacc = zacc
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 183, struct.pack('<Qffffffiiihhhhhh', self.time_usec, self.roll, self.pitch, self.yaw, self.rollspeed, self.pitchspeed, self.yawspeed, self.lat, self.lon, self.alt, self.vx, self.vy, self.vz, self.xacc, self.yacc, self.zacc))
|
|
|
|
class MAVLink_hil_controls_message(MAVLink_message):
|
|
'''
|
|
Sent from autopilot to simulation. Hardware in the loop
|
|
control outputs
|
|
'''
|
|
def __init__(self, time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_CONTROLS, 'HIL_CONTROLS')
|
|
self._fieldnames = ['time_usec', 'roll_ailerons', 'pitch_elevator', 'yaw_rudder', 'throttle', 'aux1', 'aux2', 'aux3', 'aux4', 'mode', 'nav_mode']
|
|
self.time_usec = time_usec
|
|
self.roll_ailerons = roll_ailerons
|
|
self.pitch_elevator = pitch_elevator
|
|
self.yaw_rudder = yaw_rudder
|
|
self.throttle = throttle
|
|
self.aux1 = aux1
|
|
self.aux2 = aux2
|
|
self.aux3 = aux3
|
|
self.aux4 = aux4
|
|
self.mode = mode
|
|
self.nav_mode = nav_mode
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 63, struct.pack('<QffffffffBB', self.time_usec, self.roll_ailerons, self.pitch_elevator, self.yaw_rudder, self.throttle, self.aux1, self.aux2, self.aux3, self.aux4, self.mode, self.nav_mode))
|
|
|
|
class MAVLink_hil_rc_inputs_raw_message(MAVLink_message):
|
|
'''
|
|
Sent from simulation to autopilot. The RAW values of the RC
|
|
channels received. The standard PPM modulation is as follows:
|
|
1000 microseconds: 0%, 2000 microseconds: 100%. Individual
|
|
receivers/transmitters might violate this specification.
|
|
'''
|
|
def __init__(self, time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW, 'HIL_RC_INPUTS_RAW')
|
|
self._fieldnames = ['time_usec', 'chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw', 'chan9_raw', 'chan10_raw', 'chan11_raw', 'chan12_raw', 'rssi']
|
|
self.time_usec = time_usec
|
|
self.chan1_raw = chan1_raw
|
|
self.chan2_raw = chan2_raw
|
|
self.chan3_raw = chan3_raw
|
|
self.chan4_raw = chan4_raw
|
|
self.chan5_raw = chan5_raw
|
|
self.chan6_raw = chan6_raw
|
|
self.chan7_raw = chan7_raw
|
|
self.chan8_raw = chan8_raw
|
|
self.chan9_raw = chan9_raw
|
|
self.chan10_raw = chan10_raw
|
|
self.chan11_raw = chan11_raw
|
|
self.chan12_raw = chan12_raw
|
|
self.rssi = rssi
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 54, struct.pack('<QHHHHHHHHHHHHB', self.time_usec, self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw, self.chan9_raw, self.chan10_raw, self.chan11_raw, self.chan12_raw, self.rssi))
|
|
|
|
class MAVLink_optical_flow_message(MAVLink_message):
|
|
'''
|
|
Optical flow from a flow sensor (e.g. optical mouse sensor)
|
|
'''
|
|
def __init__(self, time_usec, sensor_id, flow_x, flow_y, flow_comp_m_x, flow_comp_m_y, quality, ground_distance):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_OPTICAL_FLOW, 'OPTICAL_FLOW')
|
|
self._fieldnames = ['time_usec', 'sensor_id', 'flow_x', 'flow_y', 'flow_comp_m_x', 'flow_comp_m_y', 'quality', 'ground_distance']
|
|
self.time_usec = time_usec
|
|
self.sensor_id = sensor_id
|
|
self.flow_x = flow_x
|
|
self.flow_y = flow_y
|
|
self.flow_comp_m_x = flow_comp_m_x
|
|
self.flow_comp_m_y = flow_comp_m_y
|
|
self.quality = quality
|
|
self.ground_distance = ground_distance
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 175, struct.pack('<QfffhhBB', self.time_usec, self.flow_comp_m_x, self.flow_comp_m_y, self.ground_distance, self.flow_x, self.flow_y, self.sensor_id, self.quality))
|
|
|
|
class MAVLink_global_vision_position_estimate_message(MAVLink_message):
|
|
'''
|
|
|
|
'''
|
|
def __init__(self, usec, x, y, z, roll, pitch, yaw):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, 'GLOBAL_VISION_POSITION_ESTIMATE')
|
|
self._fieldnames = ['usec', 'x', 'y', 'z', 'roll', 'pitch', 'yaw']
|
|
self.usec = usec
|
|
self.x = x
|
|
self.y = y
|
|
self.z = z
|
|
self.roll = roll
|
|
self.pitch = pitch
|
|
self.yaw = yaw
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 102, struct.pack('<Qffffff', self.usec, self.x, self.y, self.z, self.roll, self.pitch, self.yaw))
|
|
|
|
class MAVLink_vision_position_estimate_message(MAVLink_message):
|
|
'''
|
|
|
|
'''
|
|
def __init__(self, usec, x, y, z, roll, pitch, yaw):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, 'VISION_POSITION_ESTIMATE')
|
|
self._fieldnames = ['usec', 'x', 'y', 'z', 'roll', 'pitch', 'yaw']
|
|
self.usec = usec
|
|
self.x = x
|
|
self.y = y
|
|
self.z = z
|
|
self.roll = roll
|
|
self.pitch = pitch
|
|
self.yaw = yaw
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 158, struct.pack('<Qffffff', self.usec, self.x, self.y, self.z, self.roll, self.pitch, self.yaw))
|
|
|
|
class MAVLink_vision_speed_estimate_message(MAVLink_message):
|
|
'''
|
|
|
|
'''
|
|
def __init__(self, usec, x, y, z):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, 'VISION_SPEED_ESTIMATE')
|
|
self._fieldnames = ['usec', 'x', 'y', 'z']
|
|
self.usec = usec
|
|
self.x = x
|
|
self.y = y
|
|
self.z = z
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 208, struct.pack('<Qfff', self.usec, self.x, self.y, self.z))
|
|
|
|
class MAVLink_vicon_position_estimate_message(MAVLink_message):
|
|
'''
|
|
|
|
'''
|
|
def __init__(self, usec, x, y, z, roll, pitch, yaw):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, 'VICON_POSITION_ESTIMATE')
|
|
self._fieldnames = ['usec', 'x', 'y', 'z', 'roll', 'pitch', 'yaw']
|
|
self.usec = usec
|
|
self.x = x
|
|
self.y = y
|
|
self.z = z
|
|
self.roll = roll
|
|
self.pitch = pitch
|
|
self.yaw = yaw
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 56, struct.pack('<Qffffff', self.usec, self.x, self.y, self.z, self.roll, self.pitch, self.yaw))
|
|
|
|
class MAVLink_highres_imu_message(MAVLink_message):
|
|
'''
|
|
The IMU readings in SI units in NED body frame
|
|
'''
|
|
def __init__(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag, abs_pressure, diff_pressure, pressure_alt, temperature, fields_updated):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIGHRES_IMU, 'HIGHRES_IMU')
|
|
self._fieldnames = ['time_usec', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag', 'abs_pressure', 'diff_pressure', 'pressure_alt', 'temperature', 'fields_updated']
|
|
self.time_usec = time_usec
|
|
self.xacc = xacc
|
|
self.yacc = yacc
|
|
self.zacc = zacc
|
|
self.xgyro = xgyro
|
|
self.ygyro = ygyro
|
|
self.zgyro = zgyro
|
|
self.xmag = xmag
|
|
self.ymag = ymag
|
|
self.zmag = zmag
|
|
self.abs_pressure = abs_pressure
|
|
self.diff_pressure = diff_pressure
|
|
self.pressure_alt = pressure_alt
|
|
self.temperature = temperature
|
|
self.fields_updated = fields_updated
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 93, struct.pack('<QfffffffffffffH', self.time_usec, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag, self.abs_pressure, self.diff_pressure, self.pressure_alt, self.temperature, self.fields_updated))
|
|
|
|
class MAVLink_file_transfer_start_message(MAVLink_message):
|
|
'''
|
|
Begin file transfer
|
|
'''
|
|
def __init__(self, transfer_uid, dest_path, direction, file_size, flags):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_FILE_TRANSFER_START, 'FILE_TRANSFER_START')
|
|
self._fieldnames = ['transfer_uid', 'dest_path', 'direction', 'file_size', 'flags']
|
|
self.transfer_uid = transfer_uid
|
|
self.dest_path = dest_path
|
|
self.direction = direction
|
|
self.file_size = file_size
|
|
self.flags = flags
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 235, struct.pack('<QI240sBB', self.transfer_uid, self.file_size, self.dest_path, self.direction, self.flags))
|
|
|
|
class MAVLink_file_transfer_dir_list_message(MAVLink_message):
|
|
'''
|
|
Get directory listing
|
|
'''
|
|
def __init__(self, transfer_uid, dir_path, flags):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, 'FILE_TRANSFER_DIR_LIST')
|
|
self._fieldnames = ['transfer_uid', 'dir_path', 'flags']
|
|
self.transfer_uid = transfer_uid
|
|
self.dir_path = dir_path
|
|
self.flags = flags
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 93, struct.pack('<Q240sB', self.transfer_uid, self.dir_path, self.flags))
|
|
|
|
class MAVLink_file_transfer_res_message(MAVLink_message):
|
|
'''
|
|
File transfer result
|
|
'''
|
|
def __init__(self, transfer_uid, result):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_FILE_TRANSFER_RES, 'FILE_TRANSFER_RES')
|
|
self._fieldnames = ['transfer_uid', 'result']
|
|
self.transfer_uid = transfer_uid
|
|
self.result = result
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 124, struct.pack('<QB', self.transfer_uid, self.result))
|
|
|
|
class MAVLink_battery_status_message(MAVLink_message):
|
|
'''
|
|
Transmitte battery informations for a accu pack.
|
|
'''
|
|
def __init__(self, accu_id, voltage_cell_1, voltage_cell_2, voltage_cell_3, voltage_cell_4, voltage_cell_5, voltage_cell_6, current_battery, battery_remaining):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_BATTERY_STATUS, 'BATTERY_STATUS')
|
|
self._fieldnames = ['accu_id', 'voltage_cell_1', 'voltage_cell_2', 'voltage_cell_3', 'voltage_cell_4', 'voltage_cell_5', 'voltage_cell_6', 'current_battery', 'battery_remaining']
|
|
self.accu_id = accu_id
|
|
self.voltage_cell_1 = voltage_cell_1
|
|
self.voltage_cell_2 = voltage_cell_2
|
|
self.voltage_cell_3 = voltage_cell_3
|
|
self.voltage_cell_4 = voltage_cell_4
|
|
self.voltage_cell_5 = voltage_cell_5
|
|
self.voltage_cell_6 = voltage_cell_6
|
|
self.current_battery = current_battery
|
|
self.battery_remaining = battery_remaining
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 42, struct.pack('<HHHHHHhBb', self.voltage_cell_1, self.voltage_cell_2, self.voltage_cell_3, self.voltage_cell_4, self.voltage_cell_5, self.voltage_cell_6, self.current_battery, self.accu_id, self.battery_remaining))
|
|
|
|
class MAVLink_setpoint_8dof_message(MAVLink_message):
|
|
'''
|
|
Set the 8 DOF setpoint for a controller.
|
|
'''
|
|
def __init__(self, target_system, val1, val2, val3, val4, val5, val6, val7, val8):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SETPOINT_8DOF, 'SETPOINT_8DOF')
|
|
self._fieldnames = ['target_system', 'val1', 'val2', 'val3', 'val4', 'val5', 'val6', 'val7', 'val8']
|
|
self.target_system = target_system
|
|
self.val1 = val1
|
|
self.val2 = val2
|
|
self.val3 = val3
|
|
self.val4 = val4
|
|
self.val5 = val5
|
|
self.val6 = val6
|
|
self.val7 = val7
|
|
self.val8 = val8
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 241, struct.pack('<ffffffffB', self.val1, self.val2, self.val3, self.val4, self.val5, self.val6, self.val7, self.val8, self.target_system))
|
|
|
|
class MAVLink_setpoint_6dof_message(MAVLink_message):
|
|
'''
|
|
Set the 6 DOF setpoint for a attitude and position controller.
|
|
'''
|
|
def __init__(self, target_system, trans_x, trans_y, trans_z, rot_x, rot_y, rot_z):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SETPOINT_6DOF, 'SETPOINT_6DOF')
|
|
self._fieldnames = ['target_system', 'trans_x', 'trans_y', 'trans_z', 'rot_x', 'rot_y', 'rot_z']
|
|
self.target_system = target_system
|
|
self.trans_x = trans_x
|
|
self.trans_y = trans_y
|
|
self.trans_z = trans_z
|
|
self.rot_x = rot_x
|
|
self.rot_y = rot_y
|
|
self.rot_z = rot_z
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 15, struct.pack('<ffffffB', self.trans_x, self.trans_y, self.trans_z, self.rot_x, self.rot_y, self.rot_z, self.target_system))
|
|
|
|
class MAVLink_memory_vect_message(MAVLink_message):
|
|
'''
|
|
Send raw controller memory. The use of this message is
|
|
discouraged for normal packets, but a quite efficient way for
|
|
testing new messages and getting experimental debug output.
|
|
'''
|
|
def __init__(self, address, ver, type, value):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_MEMORY_VECT, 'MEMORY_VECT')
|
|
self._fieldnames = ['address', 'ver', 'type', 'value']
|
|
self.address = address
|
|
self.ver = ver
|
|
self.type = type
|
|
self.value = value
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 204, struct.pack('<HBB32s', self.address, self.ver, self.type, self.value))
|
|
|
|
class MAVLink_debug_vect_message(MAVLink_message):
|
|
'''
|
|
|
|
'''
|
|
def __init__(self, name, time_usec, x, y, z):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_DEBUG_VECT, 'DEBUG_VECT')
|
|
self._fieldnames = ['name', 'time_usec', 'x', 'y', 'z']
|
|
self.name = name
|
|
self.time_usec = time_usec
|
|
self.x = x
|
|
self.y = y
|
|
self.z = z
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 49, struct.pack('<Qfff10s', self.time_usec, self.x, self.y, self.z, self.name))
|
|
|
|
class MAVLink_named_value_float_message(MAVLink_message):
|
|
'''
|
|
Send a key-value pair as float. The use of this message is
|
|
discouraged for normal packets, but a quite efficient way for
|
|
testing new messages and getting experimental debug output.
|
|
'''
|
|
def __init__(self, time_boot_ms, name, value):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 'NAMED_VALUE_FLOAT')
|
|
self._fieldnames = ['time_boot_ms', 'name', 'value']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.name = name
|
|
self.value = value
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 170, struct.pack('<If10s', self.time_boot_ms, self.value, self.name))
|
|
|
|
class MAVLink_named_value_int_message(MAVLink_message):
|
|
'''
|
|
Send a key-value pair as integer. The use of this message is
|
|
discouraged for normal packets, but a quite efficient way for
|
|
testing new messages and getting experimental debug output.
|
|
'''
|
|
def __init__(self, time_boot_ms, name, value):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAMED_VALUE_INT, 'NAMED_VALUE_INT')
|
|
self._fieldnames = ['time_boot_ms', 'name', 'value']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.name = name
|
|
self.value = value
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 44, struct.pack('<Ii10s', self.time_boot_ms, self.value, self.name))
|
|
|
|
class MAVLink_statustext_message(MAVLink_message):
|
|
'''
|
|
Status text message. These messages are printed in yellow in
|
|
the COMM console of QGroundControl. WARNING: They consume
|
|
quite some bandwidth, so use only for important status and
|
|
error messages. If implemented wisely, these messages are
|
|
buffered on the MCU and sent only at a limited rate (e.g. 10
|
|
Hz).
|
|
'''
|
|
def __init__(self, severity, text):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_STATUSTEXT, 'STATUSTEXT')
|
|
self._fieldnames = ['severity', 'text']
|
|
self.severity = severity
|
|
self.text = text
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 83, struct.pack('<B50s', self.severity, self.text))
|
|
|
|
class MAVLink_debug_message(MAVLink_message):
|
|
'''
|
|
Send a debug value. The index is used to discriminate between
|
|
values. These values show up in the plot of QGroundControl as
|
|
DEBUG N.
|
|
'''
|
|
def __init__(self, time_boot_ms, ind, value):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_DEBUG, 'DEBUG')
|
|
self._fieldnames = ['time_boot_ms', 'ind', 'value']
|
|
self.time_boot_ms = time_boot_ms
|
|
self.ind = ind
|
|
self.value = value
|
|
|
|
def pack(self, mav):
|
|
return MAVLink_message.pack(self, mav, 46, struct.pack('<IfB', self.time_boot_ms, self.value, self.ind))
|
|
|
|
|
|
mavlink_map = {
|
|
MAVLINK_MSG_ID_HEARTBEAT : ( '<IBBBBB', MAVLink_heartbeat_message, [1, 2, 3, 0, 4, 5], 50 ),
|
|
MAVLINK_MSG_ID_SYS_STATUS : ( '<IIIHHhHHHHHHb', MAVLink_sys_status_message, [0, 1, 2, 3, 4, 5, 12, 6, 7, 8, 9, 10, 11], 124 ),
|
|
MAVLINK_MSG_ID_SYSTEM_TIME : ( '<QI', MAVLink_system_time_message, [0, 1], 137 ),
|
|
MAVLINK_MSG_ID_PING : ( '<QIBB', MAVLink_ping_message, [0, 1, 2, 3], 237 ),
|
|
MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL : ( '<BBB25s', MAVLink_change_operator_control_message, [0, 1, 2, 3], 217 ),
|
|
MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK : ( '<BBB', MAVLink_change_operator_control_ack_message, [0, 1, 2], 104 ),
|
|
MAVLINK_MSG_ID_AUTH_KEY : ( '<32s', MAVLink_auth_key_message, [0], 119 ),
|
|
MAVLINK_MSG_ID_SET_MODE : ( '<IBB', MAVLink_set_mode_message, [1, 2, 0], 89 ),
|
|
MAVLINK_MSG_ID_PARAM_REQUEST_READ : ( '<hBB16s', MAVLink_param_request_read_message, [1, 2, 3, 0], 214 ),
|
|
MAVLINK_MSG_ID_PARAM_REQUEST_LIST : ( '<BB', MAVLink_param_request_list_message, [0, 1], 159 ),
|
|
MAVLINK_MSG_ID_PARAM_VALUE : ( '<fHH16sB', MAVLink_param_value_message, [3, 0, 4, 1, 2], 220 ),
|
|
MAVLINK_MSG_ID_PARAM_SET : ( '<fBB16sB', MAVLink_param_set_message, [1, 2, 3, 0, 4], 168 ),
|
|
MAVLINK_MSG_ID_GPS_RAW_INT : ( '<QiiiHHHHBB', MAVLink_gps_raw_int_message, [0, 8, 1, 2, 3, 4, 5, 6, 7, 9], 24 ),
|
|
MAVLINK_MSG_ID_GPS_STATUS : ( '<B20s20s20s20s20s', MAVLink_gps_status_message, [0, 1, 2, 3, 4, 5], 23 ),
|
|
MAVLINK_MSG_ID_SCALED_IMU : ( '<Ihhhhhhhhh', MAVLink_scaled_imu_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 170 ),
|
|
MAVLINK_MSG_ID_RAW_IMU : ( '<Qhhhhhhhhh', MAVLink_raw_imu_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 144 ),
|
|
MAVLINK_MSG_ID_RAW_PRESSURE : ( '<Qhhhh', MAVLink_raw_pressure_message, [0, 1, 2, 3, 4], 67 ),
|
|
MAVLINK_MSG_ID_SCALED_PRESSURE : ( '<Iffh', MAVLink_scaled_pressure_message, [0, 1, 2, 3], 115 ),
|
|
MAVLINK_MSG_ID_ATTITUDE : ( '<Iffffff', MAVLink_attitude_message, [0, 1, 2, 3, 4, 5, 6], 39 ),
|
|
MAVLINK_MSG_ID_ATTITUDE_QUATERNION : ( '<Ifffffff', MAVLink_attitude_quaternion_message, [0, 1, 2, 3, 4, 5, 6, 7], 246 ),
|
|
MAVLINK_MSG_ID_LOCAL_POSITION_NED : ( '<Iffffff', MAVLink_local_position_ned_message, [0, 1, 2, 3, 4, 5, 6], 185 ),
|
|
MAVLINK_MSG_ID_GLOBAL_POSITION_INT : ( '<IiiiihhhH', MAVLink_global_position_int_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 104 ),
|
|
MAVLINK_MSG_ID_RC_CHANNELS_SCALED : ( '<IhhhhhhhhBB', MAVLink_rc_channels_scaled_message, [0, 9, 1, 2, 3, 4, 5, 6, 7, 8, 10], 237 ),
|
|
MAVLINK_MSG_ID_RC_CHANNELS_RAW : ( '<IHHHHHHHHBB', MAVLink_rc_channels_raw_message, [0, 9, 1, 2, 3, 4, 5, 6, 7, 8, 10], 244 ),
|
|
MAVLINK_MSG_ID_SERVO_OUTPUT_RAW : ( '<IHHHHHHHHB', MAVLink_servo_output_raw_message, [0, 9, 1, 2, 3, 4, 5, 6, 7, 8], 242 ),
|
|
MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST : ( '<hhBB', MAVLink_mission_request_partial_list_message, [2, 3, 0, 1], 212 ),
|
|
MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST : ( '<hhBB', MAVLink_mission_write_partial_list_message, [2, 3, 0, 1], 9 ),
|
|
MAVLINK_MSG_ID_MISSION_ITEM : ( '<fffffffHHBBBBB', MAVLink_mission_item_message, [9, 10, 7, 11, 8, 12, 13, 0, 1, 2, 3, 4, 5, 6], 254 ),
|
|
MAVLINK_MSG_ID_MISSION_REQUEST : ( '<HBB', MAVLink_mission_request_message, [1, 2, 0], 230 ),
|
|
MAVLINK_MSG_ID_MISSION_SET_CURRENT : ( '<HBB', MAVLink_mission_set_current_message, [1, 2, 0], 28 ),
|
|
MAVLINK_MSG_ID_MISSION_CURRENT : ( '<H', MAVLink_mission_current_message, [0], 28 ),
|
|
MAVLINK_MSG_ID_MISSION_REQUEST_LIST : ( '<BB', MAVLink_mission_request_list_message, [0, 1], 132 ),
|
|
MAVLINK_MSG_ID_MISSION_COUNT : ( '<HBB', MAVLink_mission_count_message, [1, 2, 0], 221 ),
|
|
MAVLINK_MSG_ID_MISSION_CLEAR_ALL : ( '<BB', MAVLink_mission_clear_all_message, [0, 1], 232 ),
|
|
MAVLINK_MSG_ID_MISSION_ITEM_REACHED : ( '<H', MAVLink_mission_item_reached_message, [0], 11 ),
|
|
MAVLINK_MSG_ID_MISSION_ACK : ( '<BBB', MAVLink_mission_ack_message, [0, 1, 2], 153 ),
|
|
MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN : ( '<iiiB', MAVLink_set_gps_global_origin_message, [3, 0, 1, 2], 41 ),
|
|
MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN : ( '<iii', MAVLink_gps_global_origin_message, [0, 1, 2], 39 ),
|
|
MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT : ( '<ffffBBB', MAVLink_set_local_position_setpoint_message, [4, 5, 6, 0, 1, 2, 3], 214 ),
|
|
MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT : ( '<ffffB', MAVLink_local_position_setpoint_message, [4, 0, 1, 2, 3], 223 ),
|
|
MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT : ( '<iiihB', MAVLink_global_position_setpoint_int_message, [4, 0, 1, 2, 3], 141 ),
|
|
MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT : ( '<iiihB', MAVLink_set_global_position_setpoint_int_message, [4, 0, 1, 2, 3], 33 ),
|
|
MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA : ( '<ffffffBBB', MAVLink_safety_set_allowed_area_message, [6, 7, 8, 0, 1, 2, 3, 4, 5], 15 ),
|
|
MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA : ( '<ffffffB', MAVLink_safety_allowed_area_message, [6, 0, 1, 2, 3, 4, 5], 3 ),
|
|
MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST : ( '<ffffBB', MAVLink_set_roll_pitch_yaw_thrust_message, [4, 5, 0, 1, 2, 3], 100 ),
|
|
MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST : ( '<ffffBB', MAVLink_set_roll_pitch_yaw_speed_thrust_message, [4, 5, 0, 1, 2, 3], 24 ),
|
|
MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT : ( '<Iffff', MAVLink_roll_pitch_yaw_thrust_setpoint_message, [0, 1, 2, 3, 4], 239 ),
|
|
MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT : ( '<Iffff', MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message, [0, 1, 2, 3, 4], 238 ),
|
|
MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT : ( '<HHHHB', MAVLink_set_quad_motors_setpoint_message, [4, 0, 1, 2, 3], 30 ),
|
|
MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST : ( '<4h4h4h4HBB', MAVLink_set_quad_swarm_roll_pitch_yaw_thrust_message, [4, 5, 0, 1, 2, 3], 240 ),
|
|
MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT : ( '<fffffhhH', MAVLink_nav_controller_output_message, [0, 1, 5, 6, 7, 2, 3, 4], 183 ),
|
|
MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST : ( '<4h4h4h4HBB4s4s4s', MAVLink_set_quad_swarm_led_roll_pitch_yaw_thrust_message, [4, 5, 6, 7, 8, 0, 1, 2, 3], 130 ),
|
|
MAVLINK_MSG_ID_STATE_CORRECTION : ( '<fffffffff', MAVLink_state_correction_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 130 ),
|
|
MAVLINK_MSG_ID_REQUEST_DATA_STREAM : ( '<HBBBB', MAVLink_request_data_stream_message, [1, 2, 3, 0, 4], 148 ),
|
|
MAVLINK_MSG_ID_DATA_STREAM : ( '<HBB', MAVLink_data_stream_message, [1, 0, 2], 21 ),
|
|
MAVLINK_MSG_ID_MANUAL_CONTROL : ( '<hhhhHB', MAVLink_manual_control_message, [5, 0, 1, 2, 3, 4], 243 ),
|
|
MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE : ( '<HHHHHHHHBB', MAVLink_rc_channels_override_message, [8, 9, 0, 1, 2, 3, 4, 5, 6, 7], 124 ),
|
|
MAVLINK_MSG_ID_VFR_HUD : ( '<ffffhH', MAVLink_vfr_hud_message, [0, 1, 4, 5, 2, 3], 20 ),
|
|
MAVLINK_MSG_ID_COMMAND_LONG : ( '<fffffffHBBB', MAVLink_command_long_message, [8, 9, 7, 10, 0, 1, 2, 3, 4, 5, 6], 152 ),
|
|
MAVLINK_MSG_ID_COMMAND_ACK : ( '<HB', MAVLink_command_ack_message, [0, 1], 143 ),
|
|
MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT : ( '<Iffff', MAVLink_roll_pitch_yaw_rates_thrust_setpoint_message, [0, 1, 2, 3, 4], 127 ),
|
|
MAVLINK_MSG_ID_MANUAL_SETPOINT : ( '<IffffBB', MAVLink_manual_setpoint_message, [0, 1, 2, 3, 4, 5, 6], 106 ),
|
|
MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET : ( '<Iffffff', MAVLink_local_position_ned_system_global_offset_message, [0, 1, 2, 3, 4, 5, 6], 231 ),
|
|
MAVLINK_MSG_ID_HIL_STATE : ( '<Qffffffiiihhhhhh', MAVLink_hil_state_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], 183 ),
|
|
MAVLINK_MSG_ID_HIL_CONTROLS : ( '<QffffffffBB', MAVLink_hil_controls_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], 63 ),
|
|
MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW : ( '<QHHHHHHHHHHHHB', MAVLink_hil_rc_inputs_raw_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], 54 ),
|
|
MAVLINK_MSG_ID_OPTICAL_FLOW : ( '<QfffhhBB', MAVLink_optical_flow_message, [0, 6, 4, 5, 1, 2, 7, 3], 175 ),
|
|
MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE : ( '<Qffffff', MAVLink_global_vision_position_estimate_message, [0, 1, 2, 3, 4, 5, 6], 102 ),
|
|
MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE : ( '<Qffffff', MAVLink_vision_position_estimate_message, [0, 1, 2, 3, 4, 5, 6], 158 ),
|
|
MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE : ( '<Qfff', MAVLink_vision_speed_estimate_message, [0, 1, 2, 3], 208 ),
|
|
MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE : ( '<Qffffff', MAVLink_vicon_position_estimate_message, [0, 1, 2, 3, 4, 5, 6], 56 ),
|
|
MAVLINK_MSG_ID_HIGHRES_IMU : ( '<QfffffffffffffH', MAVLink_highres_imu_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14], 93 ),
|
|
MAVLINK_MSG_ID_FILE_TRANSFER_START : ( '<QI240sBB', MAVLink_file_transfer_start_message, [0, 2, 3, 1, 4], 235 ),
|
|
MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST : ( '<Q240sB', MAVLink_file_transfer_dir_list_message, [0, 1, 2], 93 ),
|
|
MAVLINK_MSG_ID_FILE_TRANSFER_RES : ( '<QB', MAVLink_file_transfer_res_message, [0, 1], 124 ),
|
|
MAVLINK_MSG_ID_BATTERY_STATUS : ( '<HHHHHHhBb', MAVLink_battery_status_message, [7, 0, 1, 2, 3, 4, 5, 6, 8], 42 ),
|
|
MAVLINK_MSG_ID_SETPOINT_8DOF : ( '<ffffffffB', MAVLink_setpoint_8dof_message, [8, 0, 1, 2, 3, 4, 5, 6, 7], 241 ),
|
|
MAVLINK_MSG_ID_SETPOINT_6DOF : ( '<ffffffB', MAVLink_setpoint_6dof_message, [6, 0, 1, 2, 3, 4, 5], 15 ),
|
|
MAVLINK_MSG_ID_MEMORY_VECT : ( '<HBB32s', MAVLink_memory_vect_message, [0, 1, 2, 3], 204 ),
|
|
MAVLINK_MSG_ID_DEBUG_VECT : ( '<Qfff10s', MAVLink_debug_vect_message, [4, 0, 1, 2, 3], 49 ),
|
|
MAVLINK_MSG_ID_NAMED_VALUE_FLOAT : ( '<If10s', MAVLink_named_value_float_message, [0, 2, 1], 170 ),
|
|
MAVLINK_MSG_ID_NAMED_VALUE_INT : ( '<Ii10s', MAVLink_named_value_int_message, [0, 2, 1], 44 ),
|
|
MAVLINK_MSG_ID_STATUSTEXT : ( '<B50s', MAVLink_statustext_message, [0, 1], 83 ),
|
|
MAVLINK_MSG_ID_DEBUG : ( '<IfB', MAVLink_debug_message, [0, 2, 1], 46 ),
|
|
}
|
|
|
|
class MAVError(Exception):
|
|
'''MAVLink error class'''
|
|
def __init__(self, msg):
|
|
Exception.__init__(self, msg)
|
|
self.message = msg
|
|
|
|
class MAVString(str):
|
|
'''NUL terminated string'''
|
|
def __init__(self, s):
|
|
str.__init__(self)
|
|
def __str__(self):
|
|
i = self.find(chr(0))
|
|
if i == -1:
|
|
return self[:]
|
|
return self[0:i]
|
|
|
|
class MAVLink_bad_data(MAVLink_message):
|
|
'''
|
|
a piece of bad data in a mavlink stream
|
|
'''
|
|
def __init__(self, data, reason):
|
|
MAVLink_message.__init__(self, MAVLINK_MSG_ID_BAD_DATA, 'BAD_DATA')
|
|
self._fieldnames = ['data', 'reason']
|
|
self.data = data
|
|
self.reason = reason
|
|
self._msgbuf = data
|
|
|
|
class MAVLink(object):
|
|
'''MAVLink protocol handling class'''
|
|
def __init__(self, file, srcSystem=0, srcComponent=0):
|
|
self.seq = 0
|
|
self.file = file
|
|
self.srcSystem = srcSystem
|
|
self.srcComponent = srcComponent
|
|
self.callback = None
|
|
self.callback_args = None
|
|
self.callback_kwargs = None
|
|
self.buf = array.array('B')
|
|
self.expected_length = 6
|
|
self.have_prefix_error = False
|
|
self.robust_parsing = False
|
|
self.protocol_marker = 254
|
|
self.little_endian = True
|
|
self.crc_extra = True
|
|
self.sort_fields = True
|
|
self.total_packets_sent = 0
|
|
self.total_bytes_sent = 0
|
|
self.total_packets_received = 0
|
|
self.total_bytes_received = 0
|
|
self.total_receive_errors = 0
|
|
self.startup_time = time.time()
|
|
|
|
def set_callback(self, callback, *args, **kwargs):
|
|
self.callback = callback
|
|
self.callback_args = args
|
|
self.callback_kwargs = kwargs
|
|
|
|
def send(self, mavmsg):
|
|
'''send a MAVLink message'''
|
|
buf = mavmsg.pack(self)
|
|
self.file.write(buf)
|
|
self.seq = (self.seq + 1) % 255
|
|
self.total_packets_sent += 1
|
|
self.total_bytes_sent += len(buf)
|
|
|
|
def bytes_needed(self):
|
|
'''return number of bytes needed for next parsing stage'''
|
|
ret = self.expected_length - len(self.buf)
|
|
if ret <= 0:
|
|
return 1
|
|
return ret
|
|
|
|
def parse_char(self, c):
|
|
'''input some data bytes, possibly returning a new message'''
|
|
if isinstance(c, str):
|
|
self.buf.fromstring(c)
|
|
else:
|
|
self.buf.extend(c)
|
|
self.total_bytes_received += len(c)
|
|
if len(self.buf) >= 1 and self.buf[0] != 254:
|
|
magic = self.buf[0]
|
|
self.buf = self.buf[1:]
|
|
if self.robust_parsing:
|
|
m = MAVLink_bad_data(chr(magic), "Bad prefix")
|
|
if self.callback:
|
|
self.callback(m, *self.callback_args, **self.callback_kwargs)
|
|
self.expected_length = 6
|
|
self.total_receive_errors += 1
|
|
return m
|
|
if self.have_prefix_error:
|
|
return None
|
|
self.have_prefix_error = True
|
|
self.total_receive_errors += 1
|
|
raise MAVError("invalid MAVLink prefix '%s'" % magic)
|
|
self.have_prefix_error = False
|
|
if len(self.buf) >= 2:
|
|
(magic, self.expected_length) = struct.unpack('BB', self.buf[0:2])
|
|
self.expected_length += 8
|
|
if self.expected_length >= 8 and len(self.buf) >= self.expected_length:
|
|
mbuf = self.buf[0:self.expected_length]
|
|
self.buf = self.buf[self.expected_length:]
|
|
self.expected_length = 6
|
|
if self.robust_parsing:
|
|
try:
|
|
m = self.decode(mbuf)
|
|
self.total_packets_received += 1
|
|
except MAVError as reason:
|
|
m = MAVLink_bad_data(mbuf, reason.message)
|
|
self.total_receive_errors += 1
|
|
else:
|
|
m = self.decode(mbuf)
|
|
self.total_packets_received += 1
|
|
if self.callback:
|
|
self.callback(m, *self.callback_args, **self.callback_kwargs)
|
|
return m
|
|
return None
|
|
|
|
def parse_buffer(self, s):
|
|
'''input some data bytes, possibly returning a list of new messages'''
|
|
m = self.parse_char(s)
|
|
if m is None:
|
|
return None
|
|
ret = [m]
|
|
while True:
|
|
m = self.parse_char("")
|
|
if m is None:
|
|
return ret
|
|
ret.append(m)
|
|
return ret
|
|
|
|
def decode(self, msgbuf):
|
|
'''decode a buffer as a MAVLink message'''
|
|
# decode the header
|
|
try:
|
|
magic, mlen, seq, srcSystem, srcComponent, msgId = struct.unpack('cBBBBB', msgbuf[:6])
|
|
except struct.error as emsg:
|
|
raise MAVError('Unable to unpack MAVLink header: %s' % emsg)
|
|
if ord(magic) != 254:
|
|
raise MAVError("invalid MAVLink prefix '%s'" % magic)
|
|
if mlen != len(msgbuf)-8:
|
|
raise MAVError('invalid MAVLink message length. Got %u expected %u, msgId=%u' % (len(msgbuf)-8, mlen, msgId))
|
|
|
|
if not msgId in mavlink_map:
|
|
raise MAVError('unknown MAVLink message ID %u' % msgId)
|
|
|
|
# decode the payload
|
|
(fmt, type, order_map, crc_extra) = mavlink_map[msgId]
|
|
|
|
# decode the checksum
|
|
try:
|
|
crc, = struct.unpack('<H', msgbuf[-2:])
|
|
except struct.error as emsg:
|
|
raise MAVError('Unable to unpack MAVLink CRC: %s' % emsg)
|
|
crc2 = mavutil.x25crc(msgbuf[1:-2])
|
|
if True: # using CRC extra
|
|
crc2.accumulate(chr(crc_extra))
|
|
if crc != crc2.crc:
|
|
raise MAVError('invalid MAVLink CRC in msgID %u 0x%04x should be 0x%04x' % (msgId, crc, crc2.crc))
|
|
|
|
try:
|
|
t = struct.unpack(fmt, msgbuf[6:-2])
|
|
except struct.error as emsg:
|
|
raise MAVError('Unable to unpack MAVLink payload type=%s fmt=%s payloadLength=%u: %s' % (
|
|
type, fmt, len(msgbuf[6:-2]), emsg))
|
|
|
|
tlist = list(t)
|
|
# handle sorted fields
|
|
if True:
|
|
t = tlist[:]
|
|
for i in range(0, len(tlist)):
|
|
tlist[i] = t[order_map[i]]
|
|
|
|
# terminate any strings
|
|
for i in range(0, len(tlist)):
|
|
if isinstance(tlist[i], str):
|
|
tlist[i] = MAVString(tlist[i])
|
|
t = tuple(tlist)
|
|
# construct the message object
|
|
try:
|
|
m = type(*t)
|
|
except Exception as emsg:
|
|
raise MAVError('Unable to instantiate MAVLink message of type %s : %s' % (type, emsg))
|
|
m._msgbuf = msgbuf
|
|
m._payload = msgbuf[6:-2]
|
|
m._crc = crc
|
|
m._header = MAVLink_header(msgId, mlen, seq, srcSystem, srcComponent)
|
|
return m
|
|
def heartbeat_encode(self, type, autopilot, base_mode, custom_mode, system_status, mavlink_version=3):
|
|
'''
|
|
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).
|
|
|
|
type : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t)
|
|
autopilot : Autopilot type / class. defined in MAV_AUTOPILOT ENUM (uint8_t)
|
|
base_mode : System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h (uint8_t)
|
|
custom_mode : A bitfield for use for autopilot-specific flags. (uint32_t)
|
|
system_status : System status flag, see MAV_STATE ENUM (uint8_t)
|
|
mavlink_version : MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_heartbeat_message(type, autopilot, base_mode, custom_mode, system_status, mavlink_version)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def heartbeat_send(self, type, autopilot, base_mode, custom_mode, system_status, mavlink_version=3):
|
|
'''
|
|
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).
|
|
|
|
type : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t)
|
|
autopilot : Autopilot type / class. defined in MAV_AUTOPILOT ENUM (uint8_t)
|
|
base_mode : System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h (uint8_t)
|
|
custom_mode : A bitfield for use for autopilot-specific flags. (uint32_t)
|
|
system_status : System status flag, see MAV_STATE ENUM (uint8_t)
|
|
mavlink_version : MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.heartbeat_encode(type, autopilot, base_mode, custom_mode, system_status, mavlink_version))
|
|
|
|
def sys_status_encode(self, onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4):
|
|
'''
|
|
The general system state. If the system is following the MAVLink
|
|
standard, the system state is mainly defined by three
|
|
orthogonal states/modes: The system mode, which is
|
|
either LOCKED (motors shut down and locked), MANUAL
|
|
(system under RC control), GUIDED (system with
|
|
autonomous position control, position setpoint
|
|
controlled manually) or AUTO (system guided by
|
|
path/waypoint planner). The NAV_MODE defined the
|
|
current flight state: LIFTOFF (often an open-loop
|
|
maneuver), LANDING, WAYPOINTS or VECTOR. This
|
|
represents the internal navigation state machine. The
|
|
system status shows wether the system is currently
|
|
active or not and if an emergency occured. During the
|
|
CRITICAL and EMERGENCY states the MAV is still
|
|
considered to be active, but should start emergency
|
|
procedures autonomously. After a failure occured it
|
|
should first move from active to critical to allow
|
|
manual intervention and then move to emergency after a
|
|
certain timeout.
|
|
|
|
onboard_control_sensors_present : Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
|
|
onboard_control_sensors_enabled : Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
|
|
onboard_control_sensors_health : Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
|
|
load : Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t)
|
|
voltage_battery : Battery voltage, in millivolts (1 = 1 millivolt) (uint16_t)
|
|
current_battery : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t)
|
|
battery_remaining : Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery (int8_t)
|
|
drop_rate_comm : Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t)
|
|
errors_comm : Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t)
|
|
errors_count1 : Autopilot-specific errors (uint16_t)
|
|
errors_count2 : Autopilot-specific errors (uint16_t)
|
|
errors_count3 : Autopilot-specific errors (uint16_t)
|
|
errors_count4 : Autopilot-specific errors (uint16_t)
|
|
|
|
'''
|
|
msg = MAVLink_sys_status_message(onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def sys_status_send(self, onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4):
|
|
'''
|
|
The general system state. If the system is following the MAVLink
|
|
standard, the system state is mainly defined by three
|
|
orthogonal states/modes: The system mode, which is
|
|
either LOCKED (motors shut down and locked), MANUAL
|
|
(system under RC control), GUIDED (system with
|
|
autonomous position control, position setpoint
|
|
controlled manually) or AUTO (system guided by
|
|
path/waypoint planner). The NAV_MODE defined the
|
|
current flight state: LIFTOFF (often an open-loop
|
|
maneuver), LANDING, WAYPOINTS or VECTOR. This
|
|
represents the internal navigation state machine. The
|
|
system status shows wether the system is currently
|
|
active or not and if an emergency occured. During the
|
|
CRITICAL and EMERGENCY states the MAV is still
|
|
considered to be active, but should start emergency
|
|
procedures autonomously. After a failure occured it
|
|
should first move from active to critical to allow
|
|
manual intervention and then move to emergency after a
|
|
certain timeout.
|
|
|
|
onboard_control_sensors_present : Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
|
|
onboard_control_sensors_enabled : Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
|
|
onboard_control_sensors_health : Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
|
|
load : Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t)
|
|
voltage_battery : Battery voltage, in millivolts (1 = 1 millivolt) (uint16_t)
|
|
current_battery : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t)
|
|
battery_remaining : Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery (int8_t)
|
|
drop_rate_comm : Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t)
|
|
errors_comm : Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t)
|
|
errors_count1 : Autopilot-specific errors (uint16_t)
|
|
errors_count2 : Autopilot-specific errors (uint16_t)
|
|
errors_count3 : Autopilot-specific errors (uint16_t)
|
|
errors_count4 : Autopilot-specific errors (uint16_t)
|
|
|
|
'''
|
|
return self.send(self.sys_status_encode(onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4))
|
|
|
|
def system_time_encode(self, time_unix_usec, time_boot_ms):
|
|
'''
|
|
The system time is the time of the master clock, typically the
|
|
computer clock of the main onboard computer.
|
|
|
|
time_unix_usec : Timestamp of the master clock in microseconds since UNIX epoch. (uint64_t)
|
|
time_boot_ms : Timestamp of the component clock since boot time in milliseconds. (uint32_t)
|
|
|
|
'''
|
|
msg = MAVLink_system_time_message(time_unix_usec, time_boot_ms)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def system_time_send(self, time_unix_usec, time_boot_ms):
|
|
'''
|
|
The system time is the time of the master clock, typically the
|
|
computer clock of the main onboard computer.
|
|
|
|
time_unix_usec : Timestamp of the master clock in microseconds since UNIX epoch. (uint64_t)
|
|
time_boot_ms : Timestamp of the component clock since boot time in milliseconds. (uint32_t)
|
|
|
|
'''
|
|
return self.send(self.system_time_encode(time_unix_usec, time_boot_ms))
|
|
|
|
def ping_encode(self, time_usec, seq, target_system, target_component):
|
|
'''
|
|
A ping message either requesting or responding to a ping. This allows
|
|
to measure the system latencies, including serial
|
|
port, radio modem and UDP connections.
|
|
|
|
time_usec : Unix timestamp in microseconds (uint64_t)
|
|
seq : PING sequence (uint32_t)
|
|
target_system : 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
|
|
target_component : 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_ping_message(time_usec, seq, target_system, target_component)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def ping_send(self, time_usec, seq, target_system, target_component):
|
|
'''
|
|
A ping message either requesting or responding to a ping. This allows
|
|
to measure the system latencies, including serial
|
|
port, radio modem and UDP connections.
|
|
|
|
time_usec : Unix timestamp in microseconds (uint64_t)
|
|
seq : PING sequence (uint32_t)
|
|
target_system : 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
|
|
target_component : 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.ping_encode(time_usec, seq, target_system, target_component))
|
|
|
|
def change_operator_control_encode(self, target_system, control_request, version, passkey):
|
|
'''
|
|
Request to control this MAV
|
|
|
|
target_system : System the GCS requests control for (uint8_t)
|
|
control_request : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
|
|
version : 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. (uint8_t)
|
|
passkey : Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" (char)
|
|
|
|
'''
|
|
msg = MAVLink_change_operator_control_message(target_system, control_request, version, passkey)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def change_operator_control_send(self, target_system, control_request, version, passkey):
|
|
'''
|
|
Request to control this MAV
|
|
|
|
target_system : System the GCS requests control for (uint8_t)
|
|
control_request : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
|
|
version : 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. (uint8_t)
|
|
passkey : Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" (char)
|
|
|
|
'''
|
|
return self.send(self.change_operator_control_encode(target_system, control_request, version, passkey))
|
|
|
|
def change_operator_control_ack_encode(self, gcs_system_id, control_request, ack):
|
|
'''
|
|
Accept / deny control of this MAV
|
|
|
|
gcs_system_id : ID of the GCS this message (uint8_t)
|
|
control_request : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
|
|
ack : 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_change_operator_control_ack_message(gcs_system_id, control_request, ack)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def change_operator_control_ack_send(self, gcs_system_id, control_request, ack):
|
|
'''
|
|
Accept / deny control of this MAV
|
|
|
|
gcs_system_id : ID of the GCS this message (uint8_t)
|
|
control_request : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
|
|
ack : 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.change_operator_control_ack_encode(gcs_system_id, control_request, ack))
|
|
|
|
def auth_key_encode(self, key):
|
|
'''
|
|
Emit an encrypted signature / key identifying this system. PLEASE
|
|
NOTE: This protocol has been kept simple, so
|
|
transmitting the key requires an encrypted channel for
|
|
true safety.
|
|
|
|
key : key (char)
|
|
|
|
'''
|
|
msg = MAVLink_auth_key_message(key)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def auth_key_send(self, key):
|
|
'''
|
|
Emit an encrypted signature / key identifying this system. PLEASE
|
|
NOTE: This protocol has been kept simple, so
|
|
transmitting the key requires an encrypted channel for
|
|
true safety.
|
|
|
|
key : key (char)
|
|
|
|
'''
|
|
return self.send(self.auth_key_encode(key))
|
|
|
|
def set_mode_encode(self, target_system, base_mode, custom_mode):
|
|
'''
|
|
Set the system mode, as defined by enum MAV_MODE. There is no target
|
|
component id as the mode is by definition for the
|
|
overall aircraft, not only for one component.
|
|
|
|
target_system : The system setting the mode (uint8_t)
|
|
base_mode : The new base mode (uint8_t)
|
|
custom_mode : The new autopilot-specific mode. This field can be ignored by an autopilot. (uint32_t)
|
|
|
|
'''
|
|
msg = MAVLink_set_mode_message(target_system, base_mode, custom_mode)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def set_mode_send(self, target_system, base_mode, custom_mode):
|
|
'''
|
|
Set the system mode, as defined by enum MAV_MODE. There is no target
|
|
component id as the mode is by definition for the
|
|
overall aircraft, not only for one component.
|
|
|
|
target_system : The system setting the mode (uint8_t)
|
|
base_mode : The new base mode (uint8_t)
|
|
custom_mode : The new autopilot-specific mode. This field can be ignored by an autopilot. (uint32_t)
|
|
|
|
'''
|
|
return self.send(self.set_mode_encode(target_system, base_mode, custom_mode))
|
|
|
|
def param_request_read_encode(self, target_system, target_component, param_id, param_index):
|
|
'''
|
|
Request to read the onboard parameter with the param_id string id.
|
|
Onboard parameters are stored as key[const char*] ->
|
|
value[float]. This allows to send a parameter to any
|
|
other component (such as the GCS) without the need of
|
|
previous knowledge of possible parameter names. Thus
|
|
the same GCS can store different parameters for
|
|
different autopilots. See also
|
|
http://qgroundcontrol.org/parameter_interface for a
|
|
full documentation of QGroundControl and IMU code.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char)
|
|
param_index : Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored) (int16_t)
|
|
|
|
'''
|
|
msg = MAVLink_param_request_read_message(target_system, target_component, param_id, param_index)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def param_request_read_send(self, target_system, target_component, param_id, param_index):
|
|
'''
|
|
Request to read the onboard parameter with the param_id string id.
|
|
Onboard parameters are stored as key[const char*] ->
|
|
value[float]. This allows to send a parameter to any
|
|
other component (such as the GCS) without the need of
|
|
previous knowledge of possible parameter names. Thus
|
|
the same GCS can store different parameters for
|
|
different autopilots. See also
|
|
http://qgroundcontrol.org/parameter_interface for a
|
|
full documentation of QGroundControl and IMU code.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char)
|
|
param_index : Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored) (int16_t)
|
|
|
|
'''
|
|
return self.send(self.param_request_read_encode(target_system, target_component, param_id, param_index))
|
|
|
|
def param_request_list_encode(self, target_system, target_component):
|
|
'''
|
|
Request all parameters of this component. After his request, all
|
|
parameters are emitted.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_param_request_list_message(target_system, target_component)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def param_request_list_send(self, target_system, target_component):
|
|
'''
|
|
Request all parameters of this component. After his request, all
|
|
parameters are emitted.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.param_request_list_encode(target_system, target_component))
|
|
|
|
def param_value_encode(self, param_id, param_value, param_type, param_count, param_index):
|
|
'''
|
|
Emit the value of a onboard parameter. The inclusion of param_count
|
|
and param_index in the message allows the recipient to
|
|
keep track of received parameters and allows him to
|
|
re-request missing parameters after a loss or timeout.
|
|
|
|
param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char)
|
|
param_value : Onboard parameter value (float)
|
|
param_type : Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. (uint8_t)
|
|
param_count : Total number of onboard parameters (uint16_t)
|
|
param_index : Index of this onboard parameter (uint16_t)
|
|
|
|
'''
|
|
msg = MAVLink_param_value_message(param_id, param_value, param_type, param_count, param_index)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def param_value_send(self, param_id, param_value, param_type, param_count, param_index):
|
|
'''
|
|
Emit the value of a onboard parameter. The inclusion of param_count
|
|
and param_index in the message allows the recipient to
|
|
keep track of received parameters and allows him to
|
|
re-request missing parameters after a loss or timeout.
|
|
|
|
param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char)
|
|
param_value : Onboard parameter value (float)
|
|
param_type : Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. (uint8_t)
|
|
param_count : Total number of onboard parameters (uint16_t)
|
|
param_index : Index of this onboard parameter (uint16_t)
|
|
|
|
'''
|
|
return self.send(self.param_value_encode(param_id, param_value, param_type, param_count, param_index))
|
|
|
|
def param_set_encode(self, target_system, target_component, param_id, param_value, param_type):
|
|
'''
|
|
Set a parameter value TEMPORARILY to RAM. It will be reset to default
|
|
on system reboot. Send the ACTION
|
|
MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM
|
|
contents to EEPROM. IMPORTANT: The receiving component
|
|
should acknowledge the new parameter value by sending
|
|
a param_value message to all communication partners.
|
|
This will also ensure that multiple GCS all have an
|
|
up-to-date list of all parameters. If the sending GCS
|
|
did not receive a PARAM_VALUE message within its
|
|
timeout time, it should re-send the PARAM_SET message.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char)
|
|
param_value : Onboard parameter value (float)
|
|
param_type : Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_param_set_message(target_system, target_component, param_id, param_value, param_type)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def param_set_send(self, target_system, target_component, param_id, param_value, param_type):
|
|
'''
|
|
Set a parameter value TEMPORARILY to RAM. It will be reset to default
|
|
on system reboot. Send the ACTION
|
|
MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM
|
|
contents to EEPROM. IMPORTANT: The receiving component
|
|
should acknowledge the new parameter value by sending
|
|
a param_value message to all communication partners.
|
|
This will also ensure that multiple GCS all have an
|
|
up-to-date list of all parameters. If the sending GCS
|
|
did not receive a PARAM_VALUE message within its
|
|
timeout time, it should re-send the PARAM_SET message.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char)
|
|
param_value : Onboard parameter value (float)
|
|
param_type : Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.param_set_encode(target_system, target_component, param_id, param_value, param_type))
|
|
|
|
def gps_raw_int_encode(self, time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible):
|
|
'''
|
|
The global position, as returned by the Global Positioning System
|
|
(GPS). This is NOT the global position
|
|
estimate of the system, 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).
|
|
|
|
time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
|
|
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. (uint8_t)
|
|
lat : Latitude in 1E7 degrees (int32_t)
|
|
lon : Longitude in 1E7 degrees (int32_t)
|
|
alt : Altitude in 1E3 meters (millimeters) above MSL (int32_t)
|
|
eph : GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t)
|
|
epv : GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t)
|
|
vel : GPS ground speed (m/s * 100). If unknown, set to: 65535 (uint16_t)
|
|
cog : Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t)
|
|
satellites_visible : Number of satellites visible. If unknown, set to 255 (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_gps_raw_int_message(time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def gps_raw_int_send(self, time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible):
|
|
'''
|
|
The global position, as returned by the Global Positioning System
|
|
(GPS). This is NOT the global position
|
|
estimate of the system, 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).
|
|
|
|
time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
|
|
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. (uint8_t)
|
|
lat : Latitude in 1E7 degrees (int32_t)
|
|
lon : Longitude in 1E7 degrees (int32_t)
|
|
alt : Altitude in 1E3 meters (millimeters) above MSL (int32_t)
|
|
eph : GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t)
|
|
epv : GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t)
|
|
vel : GPS ground speed (m/s * 100). If unknown, set to: 65535 (uint16_t)
|
|
cog : Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t)
|
|
satellites_visible : Number of satellites visible. If unknown, set to 255 (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.gps_raw_int_encode(time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible))
|
|
|
|
def gps_status_encode(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr):
|
|
'''
|
|
The positioning status, as reported by GPS. This message is intended
|
|
to display status information about each satellite
|
|
visible to the receiver. See message GLOBAL_POSITION
|
|
for the global position estimate. This message can
|
|
contain information for up to 20 satellites.
|
|
|
|
satellites_visible : Number of satellites visible (uint8_t)
|
|
satellite_prn : Global satellite ID (uint8_t)
|
|
satellite_used : 0: Satellite not used, 1: used for localization (uint8_t)
|
|
satellite_elevation : Elevation (0: right on top of receiver, 90: on the horizon) of satellite (uint8_t)
|
|
satellite_azimuth : Direction of satellite, 0: 0 deg, 255: 360 deg. (uint8_t)
|
|
satellite_snr : Signal to noise ratio of satellite (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_gps_status_message(satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def gps_status_send(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr):
|
|
'''
|
|
The positioning status, as reported by GPS. This message is intended
|
|
to display status information about each satellite
|
|
visible to the receiver. See message GLOBAL_POSITION
|
|
for the global position estimate. This message can
|
|
contain information for up to 20 satellites.
|
|
|
|
satellites_visible : Number of satellites visible (uint8_t)
|
|
satellite_prn : Global satellite ID (uint8_t)
|
|
satellite_used : 0: Satellite not used, 1: used for localization (uint8_t)
|
|
satellite_elevation : Elevation (0: right on top of receiver, 90: on the horizon) of satellite (uint8_t)
|
|
satellite_azimuth : Direction of satellite, 0: 0 deg, 255: 360 deg. (uint8_t)
|
|
satellite_snr : Signal to noise ratio of satellite (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.gps_status_encode(satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr))
|
|
|
|
def scaled_imu_encode(self, time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
|
|
'''
|
|
The RAW IMU readings for the usual 9DOF sensor setup. This message
|
|
should contain the scaled values to the described
|
|
units
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
xacc : X acceleration (mg) (int16_t)
|
|
yacc : Y acceleration (mg) (int16_t)
|
|
zacc : Z acceleration (mg) (int16_t)
|
|
xgyro : Angular speed around X axis (millirad /sec) (int16_t)
|
|
ygyro : Angular speed around Y axis (millirad /sec) (int16_t)
|
|
zgyro : Angular speed around Z axis (millirad /sec) (int16_t)
|
|
xmag : X Magnetic field (milli tesla) (int16_t)
|
|
ymag : Y Magnetic field (milli tesla) (int16_t)
|
|
zmag : Z Magnetic field (milli tesla) (int16_t)
|
|
|
|
'''
|
|
msg = MAVLink_scaled_imu_message(time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def scaled_imu_send(self, time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
|
|
'''
|
|
The RAW IMU readings for the usual 9DOF sensor setup. This message
|
|
should contain the scaled values to the described
|
|
units
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
xacc : X acceleration (mg) (int16_t)
|
|
yacc : Y acceleration (mg) (int16_t)
|
|
zacc : Z acceleration (mg) (int16_t)
|
|
xgyro : Angular speed around X axis (millirad /sec) (int16_t)
|
|
ygyro : Angular speed around Y axis (millirad /sec) (int16_t)
|
|
zgyro : Angular speed around Z axis (millirad /sec) (int16_t)
|
|
xmag : X Magnetic field (milli tesla) (int16_t)
|
|
ymag : Y Magnetic field (milli tesla) (int16_t)
|
|
zmag : Z Magnetic field (milli tesla) (int16_t)
|
|
|
|
'''
|
|
return self.send(self.scaled_imu_encode(time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag))
|
|
|
|
def raw_imu_encode(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
|
|
'''
|
|
The RAW IMU readings for the usual 9DOF sensor setup. This message
|
|
should always contain the true raw values without any
|
|
scaling to allow data capture and system debugging.
|
|
|
|
time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
|
|
xacc : X acceleration (raw) (int16_t)
|
|
yacc : Y acceleration (raw) (int16_t)
|
|
zacc : Z acceleration (raw) (int16_t)
|
|
xgyro : Angular speed around X axis (raw) (int16_t)
|
|
ygyro : Angular speed around Y axis (raw) (int16_t)
|
|
zgyro : Angular speed around Z axis (raw) (int16_t)
|
|
xmag : X Magnetic field (raw) (int16_t)
|
|
ymag : Y Magnetic field (raw) (int16_t)
|
|
zmag : Z Magnetic field (raw) (int16_t)
|
|
|
|
'''
|
|
msg = MAVLink_raw_imu_message(time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def raw_imu_send(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
|
|
'''
|
|
The RAW IMU readings for the usual 9DOF sensor setup. This message
|
|
should always contain the true raw values without any
|
|
scaling to allow data capture and system debugging.
|
|
|
|
time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
|
|
xacc : X acceleration (raw) (int16_t)
|
|
yacc : Y acceleration (raw) (int16_t)
|
|
zacc : Z acceleration (raw) (int16_t)
|
|
xgyro : Angular speed around X axis (raw) (int16_t)
|
|
ygyro : Angular speed around Y axis (raw) (int16_t)
|
|
zgyro : Angular speed around Z axis (raw) (int16_t)
|
|
xmag : X Magnetic field (raw) (int16_t)
|
|
ymag : Y Magnetic field (raw) (int16_t)
|
|
zmag : Z Magnetic field (raw) (int16_t)
|
|
|
|
'''
|
|
return self.send(self.raw_imu_encode(time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag))
|
|
|
|
def raw_pressure_encode(self, time_usec, press_abs, press_diff1, press_diff2, temperature):
|
|
'''
|
|
The RAW pressure readings for the typical setup of one absolute
|
|
pressure and one differential pressure sensor. The
|
|
sensor values should be the raw, UNSCALED ADC values.
|
|
|
|
time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
|
|
press_abs : Absolute pressure (raw) (int16_t)
|
|
press_diff1 : Differential pressure 1 (raw) (int16_t)
|
|
press_diff2 : Differential pressure 2 (raw) (int16_t)
|
|
temperature : Raw Temperature measurement (raw) (int16_t)
|
|
|
|
'''
|
|
msg = MAVLink_raw_pressure_message(time_usec, press_abs, press_diff1, press_diff2, temperature)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def raw_pressure_send(self, time_usec, press_abs, press_diff1, press_diff2, temperature):
|
|
'''
|
|
The RAW pressure readings for the typical setup of one absolute
|
|
pressure and one differential pressure sensor. The
|
|
sensor values should be the raw, UNSCALED ADC values.
|
|
|
|
time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
|
|
press_abs : Absolute pressure (raw) (int16_t)
|
|
press_diff1 : Differential pressure 1 (raw) (int16_t)
|
|
press_diff2 : Differential pressure 2 (raw) (int16_t)
|
|
temperature : Raw Temperature measurement (raw) (int16_t)
|
|
|
|
'''
|
|
return self.send(self.raw_pressure_encode(time_usec, press_abs, press_diff1, press_diff2, temperature))
|
|
|
|
def scaled_pressure_encode(self, time_boot_ms, press_abs, press_diff, temperature):
|
|
'''
|
|
The pressure readings for the typical setup of one absolute and
|
|
differential pressure sensor. The units are as
|
|
specified in each field.
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
press_abs : Absolute pressure (hectopascal) (float)
|
|
press_diff : Differential pressure 1 (hectopascal) (float)
|
|
temperature : Temperature measurement (0.01 degrees Celsius) (int16_t)
|
|
|
|
'''
|
|
msg = MAVLink_scaled_pressure_message(time_boot_ms, press_abs, press_diff, temperature)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def scaled_pressure_send(self, time_boot_ms, press_abs, press_diff, temperature):
|
|
'''
|
|
The pressure readings for the typical setup of one absolute and
|
|
differential pressure sensor. The units are as
|
|
specified in each field.
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
press_abs : Absolute pressure (hectopascal) (float)
|
|
press_diff : Differential pressure 1 (hectopascal) (float)
|
|
temperature : Temperature measurement (0.01 degrees Celsius) (int16_t)
|
|
|
|
'''
|
|
return self.send(self.scaled_pressure_encode(time_boot_ms, press_abs, press_diff, temperature))
|
|
|
|
def attitude_encode(self, time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed):
|
|
'''
|
|
The attitude in the aeronautical frame (right-handed, Z-down, X-front,
|
|
Y-right).
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
roll : Roll angle (rad, -pi..+pi) (float)
|
|
pitch : Pitch angle (rad, -pi..+pi) (float)
|
|
yaw : Yaw angle (rad, -pi..+pi) (float)
|
|
rollspeed : Roll angular speed (rad/s) (float)
|
|
pitchspeed : Pitch angular speed (rad/s) (float)
|
|
yawspeed : Yaw angular speed (rad/s) (float)
|
|
|
|
'''
|
|
msg = MAVLink_attitude_message(time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def attitude_send(self, time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed):
|
|
'''
|
|
The attitude in the aeronautical frame (right-handed, Z-down, X-front,
|
|
Y-right).
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
roll : Roll angle (rad, -pi..+pi) (float)
|
|
pitch : Pitch angle (rad, -pi..+pi) (float)
|
|
yaw : Yaw angle (rad, -pi..+pi) (float)
|
|
rollspeed : Roll angular speed (rad/s) (float)
|
|
pitchspeed : Pitch angular speed (rad/s) (float)
|
|
yawspeed : Yaw angular speed (rad/s) (float)
|
|
|
|
'''
|
|
return self.send(self.attitude_encode(time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed))
|
|
|
|
def attitude_quaternion_encode(self, time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed):
|
|
'''
|
|
The attitude in the aeronautical frame (right-handed, Z-down, X-front,
|
|
Y-right), expressed as quaternion.
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
q1 : Quaternion component 1 (float)
|
|
q2 : Quaternion component 2 (float)
|
|
q3 : Quaternion component 3 (float)
|
|
q4 : Quaternion component 4 (float)
|
|
rollspeed : Roll angular speed (rad/s) (float)
|
|
pitchspeed : Pitch angular speed (rad/s) (float)
|
|
yawspeed : Yaw angular speed (rad/s) (float)
|
|
|
|
'''
|
|
msg = MAVLink_attitude_quaternion_message(time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def attitude_quaternion_send(self, time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed):
|
|
'''
|
|
The attitude in the aeronautical frame (right-handed, Z-down, X-front,
|
|
Y-right), expressed as quaternion.
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
q1 : Quaternion component 1 (float)
|
|
q2 : Quaternion component 2 (float)
|
|
q3 : Quaternion component 3 (float)
|
|
q4 : Quaternion component 4 (float)
|
|
rollspeed : Roll angular speed (rad/s) (float)
|
|
pitchspeed : Pitch angular speed (rad/s) (float)
|
|
yawspeed : Yaw angular speed (rad/s) (float)
|
|
|
|
'''
|
|
return self.send(self.attitude_quaternion_encode(time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed))
|
|
|
|
def local_position_ned_encode(self, time_boot_ms, x, y, z, vx, vy, vz):
|
|
'''
|
|
The filtered local position (e.g. fused computer vision and
|
|
accelerometers). Coordinate frame is right-handed,
|
|
Z-axis down (aeronautical frame, NED / north-east-down
|
|
convention)
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
x : X Position (float)
|
|
y : Y Position (float)
|
|
z : Z Position (float)
|
|
vx : X Speed (float)
|
|
vy : Y Speed (float)
|
|
vz : Z Speed (float)
|
|
|
|
'''
|
|
msg = MAVLink_local_position_ned_message(time_boot_ms, x, y, z, vx, vy, vz)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def local_position_ned_send(self, time_boot_ms, x, y, z, vx, vy, vz):
|
|
'''
|
|
The filtered local position (e.g. fused computer vision and
|
|
accelerometers). Coordinate frame is right-handed,
|
|
Z-axis down (aeronautical frame, NED / north-east-down
|
|
convention)
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
x : X Position (float)
|
|
y : Y Position (float)
|
|
z : Z Position (float)
|
|
vx : X Speed (float)
|
|
vy : Y Speed (float)
|
|
vz : Z Speed (float)
|
|
|
|
'''
|
|
return self.send(self.local_position_ned_encode(time_boot_ms, x, y, z, vx, vy, vz))
|
|
|
|
def global_position_int_encode(self, time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg):
|
|
'''
|
|
The filtered global position (e.g. fused GPS and accelerometers). The
|
|
position is in GPS-frame (right-handed, Z-up). It
|
|
is designed as scaled integer message since the
|
|
resolution of float is not sufficient.
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
lat : Latitude, expressed as * 1E7 (int32_t)
|
|
lon : Longitude, expressed as * 1E7 (int32_t)
|
|
alt : Altitude in meters, expressed as * 1000 (millimeters), above MSL (int32_t)
|
|
relative_alt : Altitude above ground in meters, expressed as * 1000 (millimeters) (int32_t)
|
|
vx : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
|
|
vy : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
|
|
vz : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
|
|
hdg : Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t)
|
|
|
|
'''
|
|
msg = MAVLink_global_position_int_message(time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def global_position_int_send(self, time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg):
|
|
'''
|
|
The filtered global position (e.g. fused GPS and accelerometers). The
|
|
position is in GPS-frame (right-handed, Z-up). It
|
|
is designed as scaled integer message since the
|
|
resolution of float is not sufficient.
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
lat : Latitude, expressed as * 1E7 (int32_t)
|
|
lon : Longitude, expressed as * 1E7 (int32_t)
|
|
alt : Altitude in meters, expressed as * 1000 (millimeters), above MSL (int32_t)
|
|
relative_alt : Altitude above ground in meters, expressed as * 1000 (millimeters) (int32_t)
|
|
vx : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
|
|
vy : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
|
|
vz : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
|
|
hdg : Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t)
|
|
|
|
'''
|
|
return self.send(self.global_position_int_encode(time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg))
|
|
|
|
def rc_channels_scaled_encode(self, time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi):
|
|
'''
|
|
The scaled values of the RC channels received. (-100%) -10000, (0%) 0,
|
|
(100%) 10000. Channels that are inactive should be set
|
|
to 65535.
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. (uint8_t)
|
|
chan1_scaled : RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t)
|
|
chan2_scaled : RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t)
|
|
chan3_scaled : RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t)
|
|
chan4_scaled : RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t)
|
|
chan5_scaled : RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t)
|
|
chan6_scaled : RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t)
|
|
chan7_scaled : RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t)
|
|
chan8_scaled : RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t)
|
|
rssi : Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_rc_channels_scaled_message(time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def rc_channels_scaled_send(self, time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi):
|
|
'''
|
|
The scaled values of the RC channels received. (-100%) -10000, (0%) 0,
|
|
(100%) 10000. Channels that are inactive should be set
|
|
to 65535.
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. (uint8_t)
|
|
chan1_scaled : RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t)
|
|
chan2_scaled : RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t)
|
|
chan3_scaled : RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t)
|
|
chan4_scaled : RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t)
|
|
chan5_scaled : RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t)
|
|
chan6_scaled : RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t)
|
|
chan7_scaled : RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t)
|
|
chan8_scaled : RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t)
|
|
rssi : Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.rc_channels_scaled_encode(time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi))
|
|
|
|
def rc_channels_raw_encode(self, time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi):
|
|
'''
|
|
The RAW values of the RC channels received. The standard PPM
|
|
modulation is as follows: 1000 microseconds: 0%, 2000
|
|
microseconds: 100%. Individual receivers/transmitters
|
|
might violate this specification.
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. (uint8_t)
|
|
chan1_raw : RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t)
|
|
chan2_raw : RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t)
|
|
chan3_raw : RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t)
|
|
chan4_raw : RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t)
|
|
chan5_raw : RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t)
|
|
chan6_raw : RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t)
|
|
chan7_raw : RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t)
|
|
chan8_raw : RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t)
|
|
rssi : Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_rc_channels_raw_message(time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def rc_channels_raw_send(self, time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi):
|
|
'''
|
|
The RAW values of the RC channels received. The standard PPM
|
|
modulation is as follows: 1000 microseconds: 0%, 2000
|
|
microseconds: 100%. Individual receivers/transmitters
|
|
might violate this specification.
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. (uint8_t)
|
|
chan1_raw : RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t)
|
|
chan2_raw : RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t)
|
|
chan3_raw : RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t)
|
|
chan4_raw : RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t)
|
|
chan5_raw : RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t)
|
|
chan6_raw : RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t)
|
|
chan7_raw : RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t)
|
|
chan8_raw : RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t)
|
|
rssi : Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.rc_channels_raw_encode(time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi))
|
|
|
|
def servo_output_raw_encode(self, time_boot_ms, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw):
|
|
'''
|
|
The RAW values of the servo outputs (for RC input from the remote, use
|
|
the RC_CHANNELS messages). The standard PPM modulation
|
|
is as follows: 1000 microseconds: 0%, 2000
|
|
microseconds: 100%.
|
|
|
|
time_boot_ms : Timestamp (microseconds since system boot) (uint32_t)
|
|
port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. (uint8_t)
|
|
servo1_raw : Servo output 1 value, in microseconds (uint16_t)
|
|
servo2_raw : Servo output 2 value, in microseconds (uint16_t)
|
|
servo3_raw : Servo output 3 value, in microseconds (uint16_t)
|
|
servo4_raw : Servo output 4 value, in microseconds (uint16_t)
|
|
servo5_raw : Servo output 5 value, in microseconds (uint16_t)
|
|
servo6_raw : Servo output 6 value, in microseconds (uint16_t)
|
|
servo7_raw : Servo output 7 value, in microseconds (uint16_t)
|
|
servo8_raw : Servo output 8 value, in microseconds (uint16_t)
|
|
|
|
'''
|
|
msg = MAVLink_servo_output_raw_message(time_boot_ms, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def servo_output_raw_send(self, time_boot_ms, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw):
|
|
'''
|
|
The RAW values of the servo outputs (for RC input from the remote, use
|
|
the RC_CHANNELS messages). The standard PPM modulation
|
|
is as follows: 1000 microseconds: 0%, 2000
|
|
microseconds: 100%.
|
|
|
|
time_boot_ms : Timestamp (microseconds since system boot) (uint32_t)
|
|
port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. (uint8_t)
|
|
servo1_raw : Servo output 1 value, in microseconds (uint16_t)
|
|
servo2_raw : Servo output 2 value, in microseconds (uint16_t)
|
|
servo3_raw : Servo output 3 value, in microseconds (uint16_t)
|
|
servo4_raw : Servo output 4 value, in microseconds (uint16_t)
|
|
servo5_raw : Servo output 5 value, in microseconds (uint16_t)
|
|
servo6_raw : Servo output 6 value, in microseconds (uint16_t)
|
|
servo7_raw : Servo output 7 value, in microseconds (uint16_t)
|
|
servo8_raw : Servo output 8 value, in microseconds (uint16_t)
|
|
|
|
'''
|
|
return self.send(self.servo_output_raw_encode(time_boot_ms, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw))
|
|
|
|
def mission_request_partial_list_encode(self, target_system, target_component, start_index, end_index):
|
|
'''
|
|
Request a partial list of mission items from the system/component.
|
|
http://qgroundcontrol.org/mavlink/waypoint_protocol.
|
|
If start and end index are the same, just send one
|
|
waypoint.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
start_index : Start index, 0 by default (int16_t)
|
|
end_index : End index, -1 by default (-1: send list to end). Else a valid index of the list (int16_t)
|
|
|
|
'''
|
|
msg = MAVLink_mission_request_partial_list_message(target_system, target_component, start_index, end_index)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def mission_request_partial_list_send(self, target_system, target_component, start_index, end_index):
|
|
'''
|
|
Request a partial list of mission items from the system/component.
|
|
http://qgroundcontrol.org/mavlink/waypoint_protocol.
|
|
If start and end index are the same, just send one
|
|
waypoint.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
start_index : Start index, 0 by default (int16_t)
|
|
end_index : End index, -1 by default (-1: send list to end). Else a valid index of the list (int16_t)
|
|
|
|
'''
|
|
return self.send(self.mission_request_partial_list_encode(target_system, target_component, start_index, end_index))
|
|
|
|
def mission_write_partial_list_encode(self, target_system, target_component, start_index, end_index):
|
|
'''
|
|
This message is sent to the MAV to write a partial list. If start
|
|
index == end index, only one item will be transmitted
|
|
/ updated. If the start index is NOT 0 and above the
|
|
current list size, this request should be REJECTED!
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
start_index : Start index, 0 by default and smaller / equal to the largest index of the current onboard list. (int16_t)
|
|
end_index : End index, equal or greater than start index. (int16_t)
|
|
|
|
'''
|
|
msg = MAVLink_mission_write_partial_list_message(target_system, target_component, start_index, end_index)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def mission_write_partial_list_send(self, target_system, target_component, start_index, end_index):
|
|
'''
|
|
This message is sent to the MAV to write a partial list. If start
|
|
index == end index, only one item will be transmitted
|
|
/ updated. If the start index is NOT 0 and above the
|
|
current list size, this request should be REJECTED!
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
start_index : Start index, 0 by default and smaller / equal to the largest index of the current onboard list. (int16_t)
|
|
end_index : End index, equal or greater than start index. (int16_t)
|
|
|
|
'''
|
|
return self.send(self.mission_write_partial_list_encode(target_system, target_component, start_index, end_index))
|
|
|
|
def mission_item_encode(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z):
|
|
'''
|
|
Message encoding a mission item. This message is emitted to announce
|
|
the presence of a mission item and to set a mission
|
|
item on the system. The mission item can be either in
|
|
x, y, z meters (type: LOCAL) or x:lat, y:lon,
|
|
z:altitude. Local frame is Z-down, right handed (NED),
|
|
global frame is Z-up, right handed (ENU). See also
|
|
http://qgroundcontrol.org/mavlink/waypoint_protocol.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
seq : Sequence (uint16_t)
|
|
frame : The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h (uint8_t)
|
|
command : The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs (uint16_t)
|
|
current : false:0, true:1 (uint8_t)
|
|
autocontinue : autocontinue to next wp (uint8_t)
|
|
param1 : PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters (float)
|
|
param2 : PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds (float)
|
|
param3 : PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. (float)
|
|
param4 : PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH (float)
|
|
x : PARAM5 / local: x position, global: latitude (float)
|
|
y : PARAM6 / y position: global: longitude (float)
|
|
z : PARAM7 / z position: global: altitude (float)
|
|
|
|
'''
|
|
msg = MAVLink_mission_item_message(target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def mission_item_send(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z):
|
|
'''
|
|
Message encoding a mission item. This message is emitted to announce
|
|
the presence of a mission item and to set a mission
|
|
item on the system. The mission item can be either in
|
|
x, y, z meters (type: LOCAL) or x:lat, y:lon,
|
|
z:altitude. Local frame is Z-down, right handed (NED),
|
|
global frame is Z-up, right handed (ENU). See also
|
|
http://qgroundcontrol.org/mavlink/waypoint_protocol.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
seq : Sequence (uint16_t)
|
|
frame : The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h (uint8_t)
|
|
command : The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs (uint16_t)
|
|
current : false:0, true:1 (uint8_t)
|
|
autocontinue : autocontinue to next wp (uint8_t)
|
|
param1 : PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters (float)
|
|
param2 : PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds (float)
|
|
param3 : PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. (float)
|
|
param4 : PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH (float)
|
|
x : PARAM5 / local: x position, global: latitude (float)
|
|
y : PARAM6 / y position: global: longitude (float)
|
|
z : PARAM7 / z position: global: altitude (float)
|
|
|
|
'''
|
|
return self.send(self.mission_item_encode(target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z))
|
|
|
|
def mission_request_encode(self, target_system, target_component, seq):
|
|
'''
|
|
Request the information of the mission item with the sequence number
|
|
seq. The response of the system to this message should
|
|
be a MISSION_ITEM message.
|
|
http://qgroundcontrol.org/mavlink/waypoint_protocol
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
seq : Sequence (uint16_t)
|
|
|
|
'''
|
|
msg = MAVLink_mission_request_message(target_system, target_component, seq)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def mission_request_send(self, target_system, target_component, seq):
|
|
'''
|
|
Request the information of the mission item with the sequence number
|
|
seq. The response of the system to this message should
|
|
be a MISSION_ITEM message.
|
|
http://qgroundcontrol.org/mavlink/waypoint_protocol
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
seq : Sequence (uint16_t)
|
|
|
|
'''
|
|
return self.send(self.mission_request_encode(target_system, target_component, seq))
|
|
|
|
def mission_set_current_encode(self, target_system, target_component, seq):
|
|
'''
|
|
Set the mission item with sequence number seq as current item. This
|
|
means that the MAV will continue to this mission item
|
|
on the shortest path (not following the mission items
|
|
in-between).
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
seq : Sequence (uint16_t)
|
|
|
|
'''
|
|
msg = MAVLink_mission_set_current_message(target_system, target_component, seq)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def mission_set_current_send(self, target_system, target_component, seq):
|
|
'''
|
|
Set the mission item with sequence number seq as current item. This
|
|
means that the MAV will continue to this mission item
|
|
on the shortest path (not following the mission items
|
|
in-between).
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
seq : Sequence (uint16_t)
|
|
|
|
'''
|
|
return self.send(self.mission_set_current_encode(target_system, target_component, seq))
|
|
|
|
def mission_current_encode(self, seq):
|
|
'''
|
|
Message that announces the sequence number of the current active
|
|
mission item. The MAV will fly towards this mission
|
|
item.
|
|
|
|
seq : Sequence (uint16_t)
|
|
|
|
'''
|
|
msg = MAVLink_mission_current_message(seq)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def mission_current_send(self, seq):
|
|
'''
|
|
Message that announces the sequence number of the current active
|
|
mission item. The MAV will fly towards this mission
|
|
item.
|
|
|
|
seq : Sequence (uint16_t)
|
|
|
|
'''
|
|
return self.send(self.mission_current_encode(seq))
|
|
|
|
def mission_request_list_encode(self, target_system, target_component):
|
|
'''
|
|
Request the overall list of mission items from the system/component.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_mission_request_list_message(target_system, target_component)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def mission_request_list_send(self, target_system, target_component):
|
|
'''
|
|
Request the overall list of mission items from the system/component.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.mission_request_list_encode(target_system, target_component))
|
|
|
|
def mission_count_encode(self, target_system, target_component, count):
|
|
'''
|
|
This message is emitted as response to MISSION_REQUEST_LIST by the MAV
|
|
and to initiate a write transaction. The GCS can then
|
|
request the individual mission item based on the
|
|
knowledge of the total number of MISSIONs.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
count : Number of mission items in the sequence (uint16_t)
|
|
|
|
'''
|
|
msg = MAVLink_mission_count_message(target_system, target_component, count)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def mission_count_send(self, target_system, target_component, count):
|
|
'''
|
|
This message is emitted as response to MISSION_REQUEST_LIST by the MAV
|
|
and to initiate a write transaction. The GCS can then
|
|
request the individual mission item based on the
|
|
knowledge of the total number of MISSIONs.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
count : Number of mission items in the sequence (uint16_t)
|
|
|
|
'''
|
|
return self.send(self.mission_count_encode(target_system, target_component, count))
|
|
|
|
def mission_clear_all_encode(self, target_system, target_component):
|
|
'''
|
|
Delete all mission items at once.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_mission_clear_all_message(target_system, target_component)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def mission_clear_all_send(self, target_system, target_component):
|
|
'''
|
|
Delete all mission items at once.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.mission_clear_all_encode(target_system, target_component))
|
|
|
|
def mission_item_reached_encode(self, seq):
|
|
'''
|
|
A certain mission item has been reached. The system will either hold
|
|
this position (or circle on the orbit) or (if the
|
|
autocontinue on the WP was set) continue to the next
|
|
MISSION.
|
|
|
|
seq : Sequence (uint16_t)
|
|
|
|
'''
|
|
msg = MAVLink_mission_item_reached_message(seq)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def mission_item_reached_send(self, seq):
|
|
'''
|
|
A certain mission item has been reached. The system will either hold
|
|
this position (or circle on the orbit) or (if the
|
|
autocontinue on the WP was set) continue to the next
|
|
MISSION.
|
|
|
|
seq : Sequence (uint16_t)
|
|
|
|
'''
|
|
return self.send(self.mission_item_reached_encode(seq))
|
|
|
|
def mission_ack_encode(self, target_system, target_component, type):
|
|
'''
|
|
Ack message during MISSION handling. The type field states if this
|
|
message is a positive ack (type=0) or if an error
|
|
happened (type=non-zero).
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
type : See MAV_MISSION_RESULT enum (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_mission_ack_message(target_system, target_component, type)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def mission_ack_send(self, target_system, target_component, type):
|
|
'''
|
|
Ack message during MISSION handling. The type field states if this
|
|
message is a positive ack (type=0) or if an error
|
|
happened (type=non-zero).
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
type : See MAV_MISSION_RESULT enum (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.mission_ack_encode(target_system, target_component, type))
|
|
|
|
def set_gps_global_origin_encode(self, target_system, latitude, longitude, altitude):
|
|
'''
|
|
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.
|
|
|
|
target_system : System ID (uint8_t)
|
|
latitude : global position * 1E7 (int32_t)
|
|
longitude : global position * 1E7 (int32_t)
|
|
altitude : global position * 1000 (int32_t)
|
|
|
|
'''
|
|
msg = MAVLink_set_gps_global_origin_message(target_system, latitude, longitude, altitude)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def set_gps_global_origin_send(self, target_system, latitude, longitude, altitude):
|
|
'''
|
|
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.
|
|
|
|
target_system : System ID (uint8_t)
|
|
latitude : global position * 1E7 (int32_t)
|
|
longitude : global position * 1E7 (int32_t)
|
|
altitude : global position * 1000 (int32_t)
|
|
|
|
'''
|
|
return self.send(self.set_gps_global_origin_encode(target_system, latitude, longitude, altitude))
|
|
|
|
def gps_global_origin_encode(self, latitude, longitude, altitude):
|
|
'''
|
|
Once the MAV sets a new GPS-Local correspondence, this message
|
|
announces the origin (0,0,0) position
|
|
|
|
latitude : Latitude (WGS84), expressed as * 1E7 (int32_t)
|
|
longitude : Longitude (WGS84), expressed as * 1E7 (int32_t)
|
|
altitude : Altitude(WGS84), expressed as * 1000 (int32_t)
|
|
|
|
'''
|
|
msg = MAVLink_gps_global_origin_message(latitude, longitude, altitude)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def gps_global_origin_send(self, latitude, longitude, altitude):
|
|
'''
|
|
Once the MAV sets a new GPS-Local correspondence, this message
|
|
announces the origin (0,0,0) position
|
|
|
|
latitude : Latitude (WGS84), expressed as * 1E7 (int32_t)
|
|
longitude : Longitude (WGS84), expressed as * 1E7 (int32_t)
|
|
altitude : Altitude(WGS84), expressed as * 1000 (int32_t)
|
|
|
|
'''
|
|
return self.send(self.gps_global_origin_encode(latitude, longitude, altitude))
|
|
|
|
def set_local_position_setpoint_encode(self, target_system, target_component, coordinate_frame, x, y, z, yaw):
|
|
'''
|
|
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.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t)
|
|
x : x position (float)
|
|
y : y position (float)
|
|
z : z position (float)
|
|
yaw : Desired yaw angle (float)
|
|
|
|
'''
|
|
msg = MAVLink_set_local_position_setpoint_message(target_system, target_component, coordinate_frame, x, y, z, yaw)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def set_local_position_setpoint_send(self, target_system, target_component, coordinate_frame, x, y, z, yaw):
|
|
'''
|
|
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.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t)
|
|
x : x position (float)
|
|
y : y position (float)
|
|
z : z position (float)
|
|
yaw : Desired yaw angle (float)
|
|
|
|
'''
|
|
return self.send(self.set_local_position_setpoint_encode(target_system, target_component, coordinate_frame, x, y, z, yaw))
|
|
|
|
def local_position_setpoint_encode(self, coordinate_frame, x, y, z, yaw):
|
|
'''
|
|
Transmit the current local setpoint of the controller to other MAVs
|
|
(collision avoidance) and to the GCS.
|
|
|
|
coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t)
|
|
x : x position (float)
|
|
y : y position (float)
|
|
z : z position (float)
|
|
yaw : Desired yaw angle (float)
|
|
|
|
'''
|
|
msg = MAVLink_local_position_setpoint_message(coordinate_frame, x, y, z, yaw)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def local_position_setpoint_send(self, coordinate_frame, x, y, z, yaw):
|
|
'''
|
|
Transmit the current local setpoint of the controller to other MAVs
|
|
(collision avoidance) and to the GCS.
|
|
|
|
coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t)
|
|
x : x position (float)
|
|
y : y position (float)
|
|
z : z position (float)
|
|
yaw : Desired yaw angle (float)
|
|
|
|
'''
|
|
return self.send(self.local_position_setpoint_encode(coordinate_frame, x, y, z, yaw))
|
|
|
|
def global_position_setpoint_int_encode(self, coordinate_frame, latitude, longitude, altitude, yaw):
|
|
'''
|
|
Transmit the current local setpoint of the controller to other MAVs
|
|
(collision avoidance) and to the GCS.
|
|
|
|
coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t)
|
|
latitude : WGS84 Latitude position in degrees * 1E7 (int32_t)
|
|
longitude : WGS84 Longitude position in degrees * 1E7 (int32_t)
|
|
altitude : WGS84 Altitude in meters * 1000 (positive for up) (int32_t)
|
|
yaw : Desired yaw angle in degrees * 100 (int16_t)
|
|
|
|
'''
|
|
msg = MAVLink_global_position_setpoint_int_message(coordinate_frame, latitude, longitude, altitude, yaw)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def global_position_setpoint_int_send(self, coordinate_frame, latitude, longitude, altitude, yaw):
|
|
'''
|
|
Transmit the current local setpoint of the controller to other MAVs
|
|
(collision avoidance) and to the GCS.
|
|
|
|
coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t)
|
|
latitude : WGS84 Latitude position in degrees * 1E7 (int32_t)
|
|
longitude : WGS84 Longitude position in degrees * 1E7 (int32_t)
|
|
altitude : WGS84 Altitude in meters * 1000 (positive for up) (int32_t)
|
|
yaw : Desired yaw angle in degrees * 100 (int16_t)
|
|
|
|
'''
|
|
return self.send(self.global_position_setpoint_int_encode(coordinate_frame, latitude, longitude, altitude, yaw))
|
|
|
|
def set_global_position_setpoint_int_encode(self, coordinate_frame, latitude, longitude, altitude, yaw):
|
|
'''
|
|
Set the current global position setpoint.
|
|
|
|
coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t)
|
|
latitude : WGS84 Latitude position in degrees * 1E7 (int32_t)
|
|
longitude : WGS84 Longitude position in degrees * 1E7 (int32_t)
|
|
altitude : WGS84 Altitude in meters * 1000 (positive for up) (int32_t)
|
|
yaw : Desired yaw angle in degrees * 100 (int16_t)
|
|
|
|
'''
|
|
msg = MAVLink_set_global_position_setpoint_int_message(coordinate_frame, latitude, longitude, altitude, yaw)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def set_global_position_setpoint_int_send(self, coordinate_frame, latitude, longitude, altitude, yaw):
|
|
'''
|
|
Set the current global position setpoint.
|
|
|
|
coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t)
|
|
latitude : WGS84 Latitude position in degrees * 1E7 (int32_t)
|
|
longitude : WGS84 Longitude position in degrees * 1E7 (int32_t)
|
|
altitude : WGS84 Altitude in meters * 1000 (positive for up) (int32_t)
|
|
yaw : Desired yaw angle in degrees * 100 (int16_t)
|
|
|
|
'''
|
|
return self.send(self.set_global_position_setpoint_int_encode(coordinate_frame, latitude, longitude, altitude, yaw))
|
|
|
|
def safety_set_allowed_area_encode(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z):
|
|
'''
|
|
Set a safety zone (volume), which is defined by two corners of a cube.
|
|
This message can be used to tell the MAV which
|
|
setpoints/MISSIONs to accept and which to reject.
|
|
Safety areas are often enforced by national or
|
|
competition regulations.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
frame : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
|
|
p1x : x position 1 / Latitude 1 (float)
|
|
p1y : y position 1 / Longitude 1 (float)
|
|
p1z : z position 1 / Altitude 1 (float)
|
|
p2x : x position 2 / Latitude 2 (float)
|
|
p2y : y position 2 / Longitude 2 (float)
|
|
p2z : z position 2 / Altitude 2 (float)
|
|
|
|
'''
|
|
msg = MAVLink_safety_set_allowed_area_message(target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def safety_set_allowed_area_send(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z):
|
|
'''
|
|
Set a safety zone (volume), which is defined by two corners of a cube.
|
|
This message can be used to tell the MAV which
|
|
setpoints/MISSIONs to accept and which to reject.
|
|
Safety areas are often enforced by national or
|
|
competition regulations.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
frame : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
|
|
p1x : x position 1 / Latitude 1 (float)
|
|
p1y : y position 1 / Longitude 1 (float)
|
|
p1z : z position 1 / Altitude 1 (float)
|
|
p2x : x position 2 / Latitude 2 (float)
|
|
p2y : y position 2 / Longitude 2 (float)
|
|
p2z : z position 2 / Altitude 2 (float)
|
|
|
|
'''
|
|
return self.send(self.safety_set_allowed_area_encode(target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z))
|
|
|
|
def safety_allowed_area_encode(self, frame, p1x, p1y, p1z, p2x, p2y, p2z):
|
|
'''
|
|
Read out the safety zone the MAV currently assumes.
|
|
|
|
frame : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
|
|
p1x : x position 1 / Latitude 1 (float)
|
|
p1y : y position 1 / Longitude 1 (float)
|
|
p1z : z position 1 / Altitude 1 (float)
|
|
p2x : x position 2 / Latitude 2 (float)
|
|
p2y : y position 2 / Longitude 2 (float)
|
|
p2z : z position 2 / Altitude 2 (float)
|
|
|
|
'''
|
|
msg = MAVLink_safety_allowed_area_message(frame, p1x, p1y, p1z, p2x, p2y, p2z)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def safety_allowed_area_send(self, frame, p1x, p1y, p1z, p2x, p2y, p2z):
|
|
'''
|
|
Read out the safety zone the MAV currently assumes.
|
|
|
|
frame : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
|
|
p1x : x position 1 / Latitude 1 (float)
|
|
p1y : y position 1 / Longitude 1 (float)
|
|
p1z : z position 1 / Altitude 1 (float)
|
|
p2x : x position 2 / Latitude 2 (float)
|
|
p2y : y position 2 / Longitude 2 (float)
|
|
p2z : z position 2 / Altitude 2 (float)
|
|
|
|
'''
|
|
return self.send(self.safety_allowed_area_encode(frame, p1x, p1y, p1z, p2x, p2y, p2z))
|
|
|
|
def set_roll_pitch_yaw_thrust_encode(self, target_system, target_component, roll, pitch, yaw, thrust):
|
|
'''
|
|
Set roll, pitch and yaw.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
roll : Desired roll angle in radians (float)
|
|
pitch : Desired pitch angle in radians (float)
|
|
yaw : Desired yaw angle in radians (float)
|
|
thrust : Collective thrust, normalized to 0 .. 1 (float)
|
|
|
|
'''
|
|
msg = MAVLink_set_roll_pitch_yaw_thrust_message(target_system, target_component, roll, pitch, yaw, thrust)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def set_roll_pitch_yaw_thrust_send(self, target_system, target_component, roll, pitch, yaw, thrust):
|
|
'''
|
|
Set roll, pitch and yaw.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
roll : Desired roll angle in radians (float)
|
|
pitch : Desired pitch angle in radians (float)
|
|
yaw : Desired yaw angle in radians (float)
|
|
thrust : Collective thrust, normalized to 0 .. 1 (float)
|
|
|
|
'''
|
|
return self.send(self.set_roll_pitch_yaw_thrust_encode(target_system, target_component, roll, pitch, yaw, thrust))
|
|
|
|
def set_roll_pitch_yaw_speed_thrust_encode(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust):
|
|
'''
|
|
Set roll, pitch and yaw.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
roll_speed : Desired roll angular speed in rad/s (float)
|
|
pitch_speed : Desired pitch angular speed in rad/s (float)
|
|
yaw_speed : Desired yaw angular speed in rad/s (float)
|
|
thrust : Collective thrust, normalized to 0 .. 1 (float)
|
|
|
|
'''
|
|
msg = MAVLink_set_roll_pitch_yaw_speed_thrust_message(target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def set_roll_pitch_yaw_speed_thrust_send(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust):
|
|
'''
|
|
Set roll, pitch and yaw.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
roll_speed : Desired roll angular speed in rad/s (float)
|
|
pitch_speed : Desired pitch angular speed in rad/s (float)
|
|
yaw_speed : Desired yaw angular speed in rad/s (float)
|
|
thrust : Collective thrust, normalized to 0 .. 1 (float)
|
|
|
|
'''
|
|
return self.send(self.set_roll_pitch_yaw_speed_thrust_encode(target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust))
|
|
|
|
def roll_pitch_yaw_thrust_setpoint_encode(self, time_boot_ms, roll, pitch, yaw, thrust):
|
|
'''
|
|
Setpoint in roll, pitch, yaw currently active on the system.
|
|
|
|
time_boot_ms : Timestamp in milliseconds since system boot (uint32_t)
|
|
roll : Desired roll angle in radians (float)
|
|
pitch : Desired pitch angle in radians (float)
|
|
yaw : Desired yaw angle in radians (float)
|
|
thrust : Collective thrust, normalized to 0 .. 1 (float)
|
|
|
|
'''
|
|
msg = MAVLink_roll_pitch_yaw_thrust_setpoint_message(time_boot_ms, roll, pitch, yaw, thrust)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def roll_pitch_yaw_thrust_setpoint_send(self, time_boot_ms, roll, pitch, yaw, thrust):
|
|
'''
|
|
Setpoint in roll, pitch, yaw currently active on the system.
|
|
|
|
time_boot_ms : Timestamp in milliseconds since system boot (uint32_t)
|
|
roll : Desired roll angle in radians (float)
|
|
pitch : Desired pitch angle in radians (float)
|
|
yaw : Desired yaw angle in radians (float)
|
|
thrust : Collective thrust, normalized to 0 .. 1 (float)
|
|
|
|
'''
|
|
return self.send(self.roll_pitch_yaw_thrust_setpoint_encode(time_boot_ms, roll, pitch, yaw, thrust))
|
|
|
|
def roll_pitch_yaw_speed_thrust_setpoint_encode(self, time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust):
|
|
'''
|
|
Setpoint in rollspeed, pitchspeed, yawspeed currently active on the
|
|
system.
|
|
|
|
time_boot_ms : Timestamp in milliseconds since system boot (uint32_t)
|
|
roll_speed : Desired roll angular speed in rad/s (float)
|
|
pitch_speed : Desired pitch angular speed in rad/s (float)
|
|
yaw_speed : Desired yaw angular speed in rad/s (float)
|
|
thrust : Collective thrust, normalized to 0 .. 1 (float)
|
|
|
|
'''
|
|
msg = MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message(time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def roll_pitch_yaw_speed_thrust_setpoint_send(self, time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust):
|
|
'''
|
|
Setpoint in rollspeed, pitchspeed, yawspeed currently active on the
|
|
system.
|
|
|
|
time_boot_ms : Timestamp in milliseconds since system boot (uint32_t)
|
|
roll_speed : Desired roll angular speed in rad/s (float)
|
|
pitch_speed : Desired pitch angular speed in rad/s (float)
|
|
yaw_speed : Desired yaw angular speed in rad/s (float)
|
|
thrust : Collective thrust, normalized to 0 .. 1 (float)
|
|
|
|
'''
|
|
return self.send(self.roll_pitch_yaw_speed_thrust_setpoint_encode(time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust))
|
|
|
|
def set_quad_motors_setpoint_encode(self, target_system, motor_front_nw, motor_right_ne, motor_back_se, motor_left_sw):
|
|
'''
|
|
Setpoint in the four motor speeds
|
|
|
|
target_system : System ID of the system that should set these motor commands (uint8_t)
|
|
motor_front_nw : Front motor in + configuration, front left motor in x configuration (uint16_t)
|
|
motor_right_ne : Right motor in + configuration, front right motor in x configuration (uint16_t)
|
|
motor_back_se : Back motor in + configuration, back right motor in x configuration (uint16_t)
|
|
motor_left_sw : Left motor in + configuration, back left motor in x configuration (uint16_t)
|
|
|
|
'''
|
|
msg = MAVLink_set_quad_motors_setpoint_message(target_system, motor_front_nw, motor_right_ne, motor_back_se, motor_left_sw)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def set_quad_motors_setpoint_send(self, target_system, motor_front_nw, motor_right_ne, motor_back_se, motor_left_sw):
|
|
'''
|
|
Setpoint in the four motor speeds
|
|
|
|
target_system : System ID of the system that should set these motor commands (uint8_t)
|
|
motor_front_nw : Front motor in + configuration, front left motor in x configuration (uint16_t)
|
|
motor_right_ne : Right motor in + configuration, front right motor in x configuration (uint16_t)
|
|
motor_back_se : Back motor in + configuration, back right motor in x configuration (uint16_t)
|
|
motor_left_sw : Left motor in + configuration, back left motor in x configuration (uint16_t)
|
|
|
|
'''
|
|
return self.send(self.set_quad_motors_setpoint_encode(target_system, motor_front_nw, motor_right_ne, motor_back_se, motor_left_sw))
|
|
|
|
def set_quad_swarm_roll_pitch_yaw_thrust_encode(self, group, mode, roll, pitch, yaw, thrust):
|
|
'''
|
|
Setpoint for up to four quadrotors in a group / wing
|
|
|
|
group : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t)
|
|
mode : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t)
|
|
roll : Desired roll angle in radians +-PI (+-32767) (int16_t)
|
|
pitch : Desired pitch angle in radians +-PI (+-32767) (int16_t)
|
|
yaw : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t)
|
|
thrust : Collective thrust, scaled to uint16 (0..65535) (uint16_t)
|
|
|
|
'''
|
|
msg = MAVLink_set_quad_swarm_roll_pitch_yaw_thrust_message(group, mode, roll, pitch, yaw, thrust)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def set_quad_swarm_roll_pitch_yaw_thrust_send(self, group, mode, roll, pitch, yaw, thrust):
|
|
'''
|
|
Setpoint for up to four quadrotors in a group / wing
|
|
|
|
group : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t)
|
|
mode : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t)
|
|
roll : Desired roll angle in radians +-PI (+-32767) (int16_t)
|
|
pitch : Desired pitch angle in radians +-PI (+-32767) (int16_t)
|
|
yaw : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t)
|
|
thrust : Collective thrust, scaled to uint16 (0..65535) (uint16_t)
|
|
|
|
'''
|
|
return self.send(self.set_quad_swarm_roll_pitch_yaw_thrust_encode(group, mode, roll, pitch, yaw, thrust))
|
|
|
|
def nav_controller_output_encode(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
|
|
'''
|
|
Outputs of the APM navigation controller. The primary use of this
|
|
message is to check the response and signs of the
|
|
controller before actual flight and to assist with
|
|
tuning controller parameters.
|
|
|
|
nav_roll : Current desired roll in degrees (float)
|
|
nav_pitch : Current desired pitch in degrees (float)
|
|
nav_bearing : Current desired heading in degrees (int16_t)
|
|
target_bearing : Bearing to current MISSION/target in degrees (int16_t)
|
|
wp_dist : Distance to active MISSION in meters (uint16_t)
|
|
alt_error : Current altitude error in meters (float)
|
|
aspd_error : Current airspeed error in meters/second (float)
|
|
xtrack_error : Current crosstrack error on x-y plane in meters (float)
|
|
|
|
'''
|
|
msg = MAVLink_nav_controller_output_message(nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def nav_controller_output_send(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
|
|
'''
|
|
Outputs of the APM navigation controller. The primary use of this
|
|
message is to check the response and signs of the
|
|
controller before actual flight and to assist with
|
|
tuning controller parameters.
|
|
|
|
nav_roll : Current desired roll in degrees (float)
|
|
nav_pitch : Current desired pitch in degrees (float)
|
|
nav_bearing : Current desired heading in degrees (int16_t)
|
|
target_bearing : Bearing to current MISSION/target in degrees (int16_t)
|
|
wp_dist : Distance to active MISSION in meters (uint16_t)
|
|
alt_error : Current altitude error in meters (float)
|
|
aspd_error : Current airspeed error in meters/second (float)
|
|
xtrack_error : Current crosstrack error on x-y plane in meters (float)
|
|
|
|
'''
|
|
return self.send(self.nav_controller_output_encode(nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error))
|
|
|
|
def set_quad_swarm_led_roll_pitch_yaw_thrust_encode(self, group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust):
|
|
'''
|
|
Setpoint for up to four quadrotors in a group / wing
|
|
|
|
group : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t)
|
|
mode : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t)
|
|
led_red : RGB red channel (0-255) (uint8_t)
|
|
led_blue : RGB green channel (0-255) (uint8_t)
|
|
led_green : RGB blue channel (0-255) (uint8_t)
|
|
roll : Desired roll angle in radians +-PI (+-32767) (int16_t)
|
|
pitch : Desired pitch angle in radians +-PI (+-32767) (int16_t)
|
|
yaw : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t)
|
|
thrust : Collective thrust, scaled to uint16 (0..65535) (uint16_t)
|
|
|
|
'''
|
|
msg = MAVLink_set_quad_swarm_led_roll_pitch_yaw_thrust_message(group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def set_quad_swarm_led_roll_pitch_yaw_thrust_send(self, group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust):
|
|
'''
|
|
Setpoint for up to four quadrotors in a group / wing
|
|
|
|
group : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t)
|
|
mode : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t)
|
|
led_red : RGB red channel (0-255) (uint8_t)
|
|
led_blue : RGB green channel (0-255) (uint8_t)
|
|
led_green : RGB blue channel (0-255) (uint8_t)
|
|
roll : Desired roll angle in radians +-PI (+-32767) (int16_t)
|
|
pitch : Desired pitch angle in radians +-PI (+-32767) (int16_t)
|
|
yaw : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t)
|
|
thrust : Collective thrust, scaled to uint16 (0..65535) (uint16_t)
|
|
|
|
'''
|
|
return self.send(self.set_quad_swarm_led_roll_pitch_yaw_thrust_encode(group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust))
|
|
|
|
def state_correction_encode(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr):
|
|
'''
|
|
Corrects the systems state by adding an error correction term to the
|
|
position and velocity, and by rotating the attitude by
|
|
a correction angle.
|
|
|
|
xErr : x position error (float)
|
|
yErr : y position error (float)
|
|
zErr : z position error (float)
|
|
rollErr : roll error (radians) (float)
|
|
pitchErr : pitch error (radians) (float)
|
|
yawErr : yaw error (radians) (float)
|
|
vxErr : x velocity (float)
|
|
vyErr : y velocity (float)
|
|
vzErr : z velocity (float)
|
|
|
|
'''
|
|
msg = MAVLink_state_correction_message(xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def state_correction_send(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr):
|
|
'''
|
|
Corrects the systems state by adding an error correction term to the
|
|
position and velocity, and by rotating the attitude by
|
|
a correction angle.
|
|
|
|
xErr : x position error (float)
|
|
yErr : y position error (float)
|
|
zErr : z position error (float)
|
|
rollErr : roll error (radians) (float)
|
|
pitchErr : pitch error (radians) (float)
|
|
yawErr : yaw error (radians) (float)
|
|
vxErr : x velocity (float)
|
|
vyErr : y velocity (float)
|
|
vzErr : z velocity (float)
|
|
|
|
'''
|
|
return self.send(self.state_correction_encode(xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr))
|
|
|
|
def request_data_stream_encode(self, target_system, target_component, req_stream_id, req_message_rate, start_stop):
|
|
'''
|
|
|
|
|
|
target_system : The target requested to send the message stream. (uint8_t)
|
|
target_component : The target requested to send the message stream. (uint8_t)
|
|
req_stream_id : The ID of the requested data stream (uint8_t)
|
|
req_message_rate : The requested interval between two messages of this type (uint16_t)
|
|
start_stop : 1 to start sending, 0 to stop sending. (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_request_data_stream_message(target_system, target_component, req_stream_id, req_message_rate, start_stop)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def request_data_stream_send(self, target_system, target_component, req_stream_id, req_message_rate, start_stop):
|
|
'''
|
|
|
|
|
|
target_system : The target requested to send the message stream. (uint8_t)
|
|
target_component : The target requested to send the message stream. (uint8_t)
|
|
req_stream_id : The ID of the requested data stream (uint8_t)
|
|
req_message_rate : The requested interval between two messages of this type (uint16_t)
|
|
start_stop : 1 to start sending, 0 to stop sending. (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.request_data_stream_encode(target_system, target_component, req_stream_id, req_message_rate, start_stop))
|
|
|
|
def data_stream_encode(self, stream_id, message_rate, on_off):
|
|
'''
|
|
|
|
|
|
stream_id : The ID of the requested data stream (uint8_t)
|
|
message_rate : The requested interval between two messages of this type (uint16_t)
|
|
on_off : 1 stream is enabled, 0 stream is stopped. (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_data_stream_message(stream_id, message_rate, on_off)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def data_stream_send(self, stream_id, message_rate, on_off):
|
|
'''
|
|
|
|
|
|
stream_id : The ID of the requested data stream (uint8_t)
|
|
message_rate : The requested interval between two messages of this type (uint16_t)
|
|
on_off : 1 stream is enabled, 0 stream is stopped. (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.data_stream_encode(stream_id, message_rate, on_off))
|
|
|
|
def manual_control_encode(self, target, x, y, z, r, buttons):
|
|
'''
|
|
This message provides an API for manually controlling the vehicle
|
|
using standard joystick axes nomenclature, along with
|
|
a joystick-like input device. Unused axes can be
|
|
disabled an buttons are also transmit as boolean
|
|
values of their
|
|
|
|
target : The system to be controlled. (uint8_t)
|
|
x : X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. (int16_t)
|
|
y : Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. (int16_t)
|
|
z : Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. (int16_t)
|
|
r : R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. (int16_t)
|
|
buttons : A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. (uint16_t)
|
|
|
|
'''
|
|
msg = MAVLink_manual_control_message(target, x, y, z, r, buttons)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def manual_control_send(self, target, x, y, z, r, buttons):
|
|
'''
|
|
This message provides an API for manually controlling the vehicle
|
|
using standard joystick axes nomenclature, along with
|
|
a joystick-like input device. Unused axes can be
|
|
disabled an buttons are also transmit as boolean
|
|
values of their
|
|
|
|
target : The system to be controlled. (uint8_t)
|
|
x : X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. (int16_t)
|
|
y : Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. (int16_t)
|
|
z : Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. (int16_t)
|
|
r : R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. (int16_t)
|
|
buttons : A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. (uint16_t)
|
|
|
|
'''
|
|
return self.send(self.manual_control_encode(target, x, y, z, r, buttons))
|
|
|
|
def rc_channels_override_encode(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw):
|
|
'''
|
|
The RAW values of the RC channels sent to the MAV to override info
|
|
received from the RC radio. A value of -1 means no
|
|
change to that channel. A value of 0 means control of
|
|
that channel should be released back to the RC radio.
|
|
The standard PPM modulation is as follows: 1000
|
|
microseconds: 0%, 2000 microseconds: 100%. Individual
|
|
receivers/transmitters might violate this
|
|
specification.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
chan1_raw : RC channel 1 value, in microseconds (uint16_t)
|
|
chan2_raw : RC channel 2 value, in microseconds (uint16_t)
|
|
chan3_raw : RC channel 3 value, in microseconds (uint16_t)
|
|
chan4_raw : RC channel 4 value, in microseconds (uint16_t)
|
|
chan5_raw : RC channel 5 value, in microseconds (uint16_t)
|
|
chan6_raw : RC channel 6 value, in microseconds (uint16_t)
|
|
chan7_raw : RC channel 7 value, in microseconds (uint16_t)
|
|
chan8_raw : RC channel 8 value, in microseconds (uint16_t)
|
|
|
|
'''
|
|
msg = MAVLink_rc_channels_override_message(target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def rc_channels_override_send(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw):
|
|
'''
|
|
The RAW values of the RC channels sent to the MAV to override info
|
|
received from the RC radio. A value of -1 means no
|
|
change to that channel. A value of 0 means control of
|
|
that channel should be released back to the RC radio.
|
|
The standard PPM modulation is as follows: 1000
|
|
microseconds: 0%, 2000 microseconds: 100%. Individual
|
|
receivers/transmitters might violate this
|
|
specification.
|
|
|
|
target_system : System ID (uint8_t)
|
|
target_component : Component ID (uint8_t)
|
|
chan1_raw : RC channel 1 value, in microseconds (uint16_t)
|
|
chan2_raw : RC channel 2 value, in microseconds (uint16_t)
|
|
chan3_raw : RC channel 3 value, in microseconds (uint16_t)
|
|
chan4_raw : RC channel 4 value, in microseconds (uint16_t)
|
|
chan5_raw : RC channel 5 value, in microseconds (uint16_t)
|
|
chan6_raw : RC channel 6 value, in microseconds (uint16_t)
|
|
chan7_raw : RC channel 7 value, in microseconds (uint16_t)
|
|
chan8_raw : RC channel 8 value, in microseconds (uint16_t)
|
|
|
|
'''
|
|
return self.send(self.rc_channels_override_encode(target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw))
|
|
|
|
def vfr_hud_encode(self, airspeed, groundspeed, heading, throttle, alt, climb):
|
|
'''
|
|
Metrics typically displayed on a HUD for fixed wing aircraft
|
|
|
|
airspeed : Current airspeed in m/s (float)
|
|
groundspeed : Current ground speed in m/s (float)
|
|
heading : Current heading in degrees, in compass units (0..360, 0=north) (int16_t)
|
|
throttle : Current throttle setting in integer percent, 0 to 100 (uint16_t)
|
|
alt : Current altitude (MSL), in meters (float)
|
|
climb : Current climb rate in meters/second (float)
|
|
|
|
'''
|
|
msg = MAVLink_vfr_hud_message(airspeed, groundspeed, heading, throttle, alt, climb)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def vfr_hud_send(self, airspeed, groundspeed, heading, throttle, alt, climb):
|
|
'''
|
|
Metrics typically displayed on a HUD for fixed wing aircraft
|
|
|
|
airspeed : Current airspeed in m/s (float)
|
|
groundspeed : Current ground speed in m/s (float)
|
|
heading : Current heading in degrees, in compass units (0..360, 0=north) (int16_t)
|
|
throttle : Current throttle setting in integer percent, 0 to 100 (uint16_t)
|
|
alt : Current altitude (MSL), in meters (float)
|
|
climb : Current climb rate in meters/second (float)
|
|
|
|
'''
|
|
return self.send(self.vfr_hud_encode(airspeed, groundspeed, heading, throttle, alt, climb))
|
|
|
|
def command_long_encode(self, target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7):
|
|
'''
|
|
Send a command with up to four parameters to the MAV
|
|
|
|
target_system : System which should execute the command (uint8_t)
|
|
target_component : Component which should execute the command, 0 for all components (uint8_t)
|
|
command : Command ID, as defined by MAV_CMD enum. (uint16_t)
|
|
confirmation : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t)
|
|
param1 : Parameter 1, as defined by MAV_CMD enum. (float)
|
|
param2 : Parameter 2, as defined by MAV_CMD enum. (float)
|
|
param3 : Parameter 3, as defined by MAV_CMD enum. (float)
|
|
param4 : Parameter 4, as defined by MAV_CMD enum. (float)
|
|
param5 : Parameter 5, as defined by MAV_CMD enum. (float)
|
|
param6 : Parameter 6, as defined by MAV_CMD enum. (float)
|
|
param7 : Parameter 7, as defined by MAV_CMD enum. (float)
|
|
|
|
'''
|
|
msg = MAVLink_command_long_message(target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def command_long_send(self, target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7):
|
|
'''
|
|
Send a command with up to four parameters to the MAV
|
|
|
|
target_system : System which should execute the command (uint8_t)
|
|
target_component : Component which should execute the command, 0 for all components (uint8_t)
|
|
command : Command ID, as defined by MAV_CMD enum. (uint16_t)
|
|
confirmation : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t)
|
|
param1 : Parameter 1, as defined by MAV_CMD enum. (float)
|
|
param2 : Parameter 2, as defined by MAV_CMD enum. (float)
|
|
param3 : Parameter 3, as defined by MAV_CMD enum. (float)
|
|
param4 : Parameter 4, as defined by MAV_CMD enum. (float)
|
|
param5 : Parameter 5, as defined by MAV_CMD enum. (float)
|
|
param6 : Parameter 6, as defined by MAV_CMD enum. (float)
|
|
param7 : Parameter 7, as defined by MAV_CMD enum. (float)
|
|
|
|
'''
|
|
return self.send(self.command_long_encode(target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7))
|
|
|
|
def command_ack_encode(self, command, result):
|
|
'''
|
|
Report status of a command. Includes feedback wether the command was
|
|
executed.
|
|
|
|
command : Command ID, as defined by MAV_CMD enum. (uint16_t)
|
|
result : See MAV_RESULT enum (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_command_ack_message(command, result)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def command_ack_send(self, command, result):
|
|
'''
|
|
Report status of a command. Includes feedback wether the command was
|
|
executed.
|
|
|
|
command : Command ID, as defined by MAV_CMD enum. (uint16_t)
|
|
result : See MAV_RESULT enum (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.command_ack_encode(command, result))
|
|
|
|
def roll_pitch_yaw_rates_thrust_setpoint_encode(self, time_boot_ms, roll_rate, pitch_rate, yaw_rate, thrust):
|
|
'''
|
|
Setpoint in roll, pitch, yaw rates and thrust currently active on the
|
|
system.
|
|
|
|
time_boot_ms : Timestamp in milliseconds since system boot (uint32_t)
|
|
roll_rate : Desired roll rate in radians per second (float)
|
|
pitch_rate : Desired pitch rate in radians per second (float)
|
|
yaw_rate : Desired yaw rate in radians per second (float)
|
|
thrust : Collective thrust, normalized to 0 .. 1 (float)
|
|
|
|
'''
|
|
msg = MAVLink_roll_pitch_yaw_rates_thrust_setpoint_message(time_boot_ms, roll_rate, pitch_rate, yaw_rate, thrust)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def roll_pitch_yaw_rates_thrust_setpoint_send(self, time_boot_ms, roll_rate, pitch_rate, yaw_rate, thrust):
|
|
'''
|
|
Setpoint in roll, pitch, yaw rates and thrust currently active on the
|
|
system.
|
|
|
|
time_boot_ms : Timestamp in milliseconds since system boot (uint32_t)
|
|
roll_rate : Desired roll rate in radians per second (float)
|
|
pitch_rate : Desired pitch rate in radians per second (float)
|
|
yaw_rate : Desired yaw rate in radians per second (float)
|
|
thrust : Collective thrust, normalized to 0 .. 1 (float)
|
|
|
|
'''
|
|
return self.send(self.roll_pitch_yaw_rates_thrust_setpoint_encode(time_boot_ms, roll_rate, pitch_rate, yaw_rate, thrust))
|
|
|
|
def manual_setpoint_encode(self, time_boot_ms, roll, pitch, yaw, thrust, mode_switch, manual_override_switch):
|
|
'''
|
|
Setpoint in roll, pitch, yaw and thrust from the operator
|
|
|
|
time_boot_ms : Timestamp in milliseconds since system boot (uint32_t)
|
|
roll : Desired roll rate in radians per second (float)
|
|
pitch : Desired pitch rate in radians per second (float)
|
|
yaw : Desired yaw rate in radians per second (float)
|
|
thrust : Collective thrust, normalized to 0 .. 1 (float)
|
|
mode_switch : Flight mode switch position, 0.. 255 (uint8_t)
|
|
manual_override_switch : Override mode switch position, 0.. 255 (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_manual_setpoint_message(time_boot_ms, roll, pitch, yaw, thrust, mode_switch, manual_override_switch)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def manual_setpoint_send(self, time_boot_ms, roll, pitch, yaw, thrust, mode_switch, manual_override_switch):
|
|
'''
|
|
Setpoint in roll, pitch, yaw and thrust from the operator
|
|
|
|
time_boot_ms : Timestamp in milliseconds since system boot (uint32_t)
|
|
roll : Desired roll rate in radians per second (float)
|
|
pitch : Desired pitch rate in radians per second (float)
|
|
yaw : Desired yaw rate in radians per second (float)
|
|
thrust : Collective thrust, normalized to 0 .. 1 (float)
|
|
mode_switch : Flight mode switch position, 0.. 255 (uint8_t)
|
|
manual_override_switch : Override mode switch position, 0.. 255 (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.manual_setpoint_encode(time_boot_ms, roll, pitch, yaw, thrust, mode_switch, manual_override_switch))
|
|
|
|
def local_position_ned_system_global_offset_encode(self, time_boot_ms, x, y, z, roll, pitch, yaw):
|
|
'''
|
|
The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages
|
|
of MAV X and the global coordinate frame in NED
|
|
coordinates. Coordinate frame is right-handed, Z-axis
|
|
down (aeronautical frame, NED / north-east-down
|
|
convention)
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
x : X Position (float)
|
|
y : Y Position (float)
|
|
z : Z Position (float)
|
|
roll : Roll (float)
|
|
pitch : Pitch (float)
|
|
yaw : Yaw (float)
|
|
|
|
'''
|
|
msg = MAVLink_local_position_ned_system_global_offset_message(time_boot_ms, x, y, z, roll, pitch, yaw)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def local_position_ned_system_global_offset_send(self, time_boot_ms, x, y, z, roll, pitch, yaw):
|
|
'''
|
|
The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages
|
|
of MAV X and the global coordinate frame in NED
|
|
coordinates. Coordinate frame is right-handed, Z-axis
|
|
down (aeronautical frame, NED / north-east-down
|
|
convention)
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
x : X Position (float)
|
|
y : Y Position (float)
|
|
z : Z Position (float)
|
|
roll : Roll (float)
|
|
pitch : Pitch (float)
|
|
yaw : Yaw (float)
|
|
|
|
'''
|
|
return self.send(self.local_position_ned_system_global_offset_encode(time_boot_ms, x, y, z, roll, pitch, yaw))
|
|
|
|
def hil_state_encode(self, time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc):
|
|
'''
|
|
Sent from simulation to autopilot. This packet is useful for high
|
|
throughput applications such as hardware in the loop
|
|
simulations.
|
|
|
|
time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
|
|
roll : Roll angle (rad) (float)
|
|
pitch : Pitch angle (rad) (float)
|
|
yaw : Yaw angle (rad) (float)
|
|
rollspeed : Roll angular speed (rad/s) (float)
|
|
pitchspeed : Pitch angular speed (rad/s) (float)
|
|
yawspeed : Yaw angular speed (rad/s) (float)
|
|
lat : Latitude, expressed as * 1E7 (int32_t)
|
|
lon : Longitude, expressed as * 1E7 (int32_t)
|
|
alt : Altitude in meters, expressed as * 1000 (millimeters) (int32_t)
|
|
vx : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
|
|
vy : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
|
|
vz : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
|
|
xacc : X acceleration (mg) (int16_t)
|
|
yacc : Y acceleration (mg) (int16_t)
|
|
zacc : Z acceleration (mg) (int16_t)
|
|
|
|
'''
|
|
msg = MAVLink_hil_state_message(time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def hil_state_send(self, time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc):
|
|
'''
|
|
Sent from simulation to autopilot. This packet is useful for high
|
|
throughput applications such as hardware in the loop
|
|
simulations.
|
|
|
|
time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
|
|
roll : Roll angle (rad) (float)
|
|
pitch : Pitch angle (rad) (float)
|
|
yaw : Yaw angle (rad) (float)
|
|
rollspeed : Roll angular speed (rad/s) (float)
|
|
pitchspeed : Pitch angular speed (rad/s) (float)
|
|
yawspeed : Yaw angular speed (rad/s) (float)
|
|
lat : Latitude, expressed as * 1E7 (int32_t)
|
|
lon : Longitude, expressed as * 1E7 (int32_t)
|
|
alt : Altitude in meters, expressed as * 1000 (millimeters) (int32_t)
|
|
vx : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
|
|
vy : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
|
|
vz : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
|
|
xacc : X acceleration (mg) (int16_t)
|
|
yacc : Y acceleration (mg) (int16_t)
|
|
zacc : Z acceleration (mg) (int16_t)
|
|
|
|
'''
|
|
return self.send(self.hil_state_encode(time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc))
|
|
|
|
def hil_controls_encode(self, time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode):
|
|
'''
|
|
Sent from autopilot to simulation. Hardware in the loop control
|
|
outputs
|
|
|
|
time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
|
|
roll_ailerons : Control output -1 .. 1 (float)
|
|
pitch_elevator : Control output -1 .. 1 (float)
|
|
yaw_rudder : Control output -1 .. 1 (float)
|
|
throttle : Throttle 0 .. 1 (float)
|
|
aux1 : Aux 1, -1 .. 1 (float)
|
|
aux2 : Aux 2, -1 .. 1 (float)
|
|
aux3 : Aux 3, -1 .. 1 (float)
|
|
aux4 : Aux 4, -1 .. 1 (float)
|
|
mode : System mode (MAV_MODE) (uint8_t)
|
|
nav_mode : Navigation mode (MAV_NAV_MODE) (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_hil_controls_message(time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def hil_controls_send(self, time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode):
|
|
'''
|
|
Sent from autopilot to simulation. Hardware in the loop control
|
|
outputs
|
|
|
|
time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
|
|
roll_ailerons : Control output -1 .. 1 (float)
|
|
pitch_elevator : Control output -1 .. 1 (float)
|
|
yaw_rudder : Control output -1 .. 1 (float)
|
|
throttle : Throttle 0 .. 1 (float)
|
|
aux1 : Aux 1, -1 .. 1 (float)
|
|
aux2 : Aux 2, -1 .. 1 (float)
|
|
aux3 : Aux 3, -1 .. 1 (float)
|
|
aux4 : Aux 4, -1 .. 1 (float)
|
|
mode : System mode (MAV_MODE) (uint8_t)
|
|
nav_mode : Navigation mode (MAV_NAV_MODE) (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.hil_controls_encode(time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode))
|
|
|
|
def hil_rc_inputs_raw_encode(self, time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi):
|
|
'''
|
|
Sent from simulation to autopilot. The RAW values of the RC channels
|
|
received. The standard PPM modulation is as follows:
|
|
1000 microseconds: 0%, 2000 microseconds: 100%.
|
|
Individual receivers/transmitters might violate this
|
|
specification.
|
|
|
|
time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
|
|
chan1_raw : RC channel 1 value, in microseconds (uint16_t)
|
|
chan2_raw : RC channel 2 value, in microseconds (uint16_t)
|
|
chan3_raw : RC channel 3 value, in microseconds (uint16_t)
|
|
chan4_raw : RC channel 4 value, in microseconds (uint16_t)
|
|
chan5_raw : RC channel 5 value, in microseconds (uint16_t)
|
|
chan6_raw : RC channel 6 value, in microseconds (uint16_t)
|
|
chan7_raw : RC channel 7 value, in microseconds (uint16_t)
|
|
chan8_raw : RC channel 8 value, in microseconds (uint16_t)
|
|
chan9_raw : RC channel 9 value, in microseconds (uint16_t)
|
|
chan10_raw : RC channel 10 value, in microseconds (uint16_t)
|
|
chan11_raw : RC channel 11 value, in microseconds (uint16_t)
|
|
chan12_raw : RC channel 12 value, in microseconds (uint16_t)
|
|
rssi : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_hil_rc_inputs_raw_message(time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def hil_rc_inputs_raw_send(self, time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi):
|
|
'''
|
|
Sent from simulation to autopilot. The RAW values of the RC channels
|
|
received. The standard PPM modulation is as follows:
|
|
1000 microseconds: 0%, 2000 microseconds: 100%.
|
|
Individual receivers/transmitters might violate this
|
|
specification.
|
|
|
|
time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
|
|
chan1_raw : RC channel 1 value, in microseconds (uint16_t)
|
|
chan2_raw : RC channel 2 value, in microseconds (uint16_t)
|
|
chan3_raw : RC channel 3 value, in microseconds (uint16_t)
|
|
chan4_raw : RC channel 4 value, in microseconds (uint16_t)
|
|
chan5_raw : RC channel 5 value, in microseconds (uint16_t)
|
|
chan6_raw : RC channel 6 value, in microseconds (uint16_t)
|
|
chan7_raw : RC channel 7 value, in microseconds (uint16_t)
|
|
chan8_raw : RC channel 8 value, in microseconds (uint16_t)
|
|
chan9_raw : RC channel 9 value, in microseconds (uint16_t)
|
|
chan10_raw : RC channel 10 value, in microseconds (uint16_t)
|
|
chan11_raw : RC channel 11 value, in microseconds (uint16_t)
|
|
chan12_raw : RC channel 12 value, in microseconds (uint16_t)
|
|
rssi : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.hil_rc_inputs_raw_encode(time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi))
|
|
|
|
def optical_flow_encode(self, time_usec, sensor_id, flow_x, flow_y, flow_comp_m_x, flow_comp_m_y, quality, ground_distance):
|
|
'''
|
|
Optical flow from a flow sensor (e.g. optical mouse sensor)
|
|
|
|
time_usec : Timestamp (UNIX) (uint64_t)
|
|
sensor_id : Sensor ID (uint8_t)
|
|
flow_x : Flow in pixels in x-sensor direction (int16_t)
|
|
flow_y : Flow in pixels in y-sensor direction (int16_t)
|
|
flow_comp_m_x : Flow in meters in x-sensor direction, angular-speed compensated (float)
|
|
flow_comp_m_y : Flow in meters in y-sensor direction, angular-speed compensated (float)
|
|
quality : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t)
|
|
ground_distance : Ground distance in meters. Positive value: distance known. Negative value: Unknown distance (float)
|
|
|
|
'''
|
|
msg = MAVLink_optical_flow_message(time_usec, sensor_id, flow_x, flow_y, flow_comp_m_x, flow_comp_m_y, quality, ground_distance)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def optical_flow_send(self, time_usec, sensor_id, flow_x, flow_y, flow_comp_m_x, flow_comp_m_y, quality, ground_distance):
|
|
'''
|
|
Optical flow from a flow sensor (e.g. optical mouse sensor)
|
|
|
|
time_usec : Timestamp (UNIX) (uint64_t)
|
|
sensor_id : Sensor ID (uint8_t)
|
|
flow_x : Flow in pixels in x-sensor direction (int16_t)
|
|
flow_y : Flow in pixels in y-sensor direction (int16_t)
|
|
flow_comp_m_x : Flow in meters in x-sensor direction, angular-speed compensated (float)
|
|
flow_comp_m_y : Flow in meters in y-sensor direction, angular-speed compensated (float)
|
|
quality : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t)
|
|
ground_distance : Ground distance in meters. Positive value: distance known. Negative value: Unknown distance (float)
|
|
|
|
'''
|
|
return self.send(self.optical_flow_encode(time_usec, sensor_id, flow_x, flow_y, flow_comp_m_x, flow_comp_m_y, quality, ground_distance))
|
|
|
|
def global_vision_position_estimate_encode(self, usec, x, y, z, roll, pitch, yaw):
|
|
'''
|
|
|
|
|
|
usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t)
|
|
x : Global X position (float)
|
|
y : Global Y position (float)
|
|
z : Global Z position (float)
|
|
roll : Roll angle in rad (float)
|
|
pitch : Pitch angle in rad (float)
|
|
yaw : Yaw angle in rad (float)
|
|
|
|
'''
|
|
msg = MAVLink_global_vision_position_estimate_message(usec, x, y, z, roll, pitch, yaw)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def global_vision_position_estimate_send(self, usec, x, y, z, roll, pitch, yaw):
|
|
'''
|
|
|
|
|
|
usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t)
|
|
x : Global X position (float)
|
|
y : Global Y position (float)
|
|
z : Global Z position (float)
|
|
roll : Roll angle in rad (float)
|
|
pitch : Pitch angle in rad (float)
|
|
yaw : Yaw angle in rad (float)
|
|
|
|
'''
|
|
return self.send(self.global_vision_position_estimate_encode(usec, x, y, z, roll, pitch, yaw))
|
|
|
|
def vision_position_estimate_encode(self, usec, x, y, z, roll, pitch, yaw):
|
|
'''
|
|
|
|
|
|
usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t)
|
|
x : Global X position (float)
|
|
y : Global Y position (float)
|
|
z : Global Z position (float)
|
|
roll : Roll angle in rad (float)
|
|
pitch : Pitch angle in rad (float)
|
|
yaw : Yaw angle in rad (float)
|
|
|
|
'''
|
|
msg = MAVLink_vision_position_estimate_message(usec, x, y, z, roll, pitch, yaw)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def vision_position_estimate_send(self, usec, x, y, z, roll, pitch, yaw):
|
|
'''
|
|
|
|
|
|
usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t)
|
|
x : Global X position (float)
|
|
y : Global Y position (float)
|
|
z : Global Z position (float)
|
|
roll : Roll angle in rad (float)
|
|
pitch : Pitch angle in rad (float)
|
|
yaw : Yaw angle in rad (float)
|
|
|
|
'''
|
|
return self.send(self.vision_position_estimate_encode(usec, x, y, z, roll, pitch, yaw))
|
|
|
|
def vision_speed_estimate_encode(self, usec, x, y, z):
|
|
'''
|
|
|
|
|
|
usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t)
|
|
x : Global X speed (float)
|
|
y : Global Y speed (float)
|
|
z : Global Z speed (float)
|
|
|
|
'''
|
|
msg = MAVLink_vision_speed_estimate_message(usec, x, y, z)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def vision_speed_estimate_send(self, usec, x, y, z):
|
|
'''
|
|
|
|
|
|
usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t)
|
|
x : Global X speed (float)
|
|
y : Global Y speed (float)
|
|
z : Global Z speed (float)
|
|
|
|
'''
|
|
return self.send(self.vision_speed_estimate_encode(usec, x, y, z))
|
|
|
|
def vicon_position_estimate_encode(self, usec, x, y, z, roll, pitch, yaw):
|
|
'''
|
|
|
|
|
|
usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t)
|
|
x : Global X position (float)
|
|
y : Global Y position (float)
|
|
z : Global Z position (float)
|
|
roll : Roll angle in rad (float)
|
|
pitch : Pitch angle in rad (float)
|
|
yaw : Yaw angle in rad (float)
|
|
|
|
'''
|
|
msg = MAVLink_vicon_position_estimate_message(usec, x, y, z, roll, pitch, yaw)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def vicon_position_estimate_send(self, usec, x, y, z, roll, pitch, yaw):
|
|
'''
|
|
|
|
|
|
usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t)
|
|
x : Global X position (float)
|
|
y : Global Y position (float)
|
|
z : Global Z position (float)
|
|
roll : Roll angle in rad (float)
|
|
pitch : Pitch angle in rad (float)
|
|
yaw : Yaw angle in rad (float)
|
|
|
|
'''
|
|
return self.send(self.vicon_position_estimate_encode(usec, x, y, z, roll, pitch, yaw))
|
|
|
|
def highres_imu_encode(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag, abs_pressure, diff_pressure, pressure_alt, temperature, fields_updated):
|
|
'''
|
|
The IMU readings in SI units in NED body frame
|
|
|
|
time_usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t)
|
|
xacc : X acceleration (m/s^2) (float)
|
|
yacc : Y acceleration (m/s^2) (float)
|
|
zacc : Z acceleration (m/s^2) (float)
|
|
xgyro : Angular speed around X axis (rad / sec) (float)
|
|
ygyro : Angular speed around Y axis (rad / sec) (float)
|
|
zgyro : Angular speed around Z axis (rad / sec) (float)
|
|
xmag : X Magnetic field (Gauss) (float)
|
|
ymag : Y Magnetic field (Gauss) (float)
|
|
zmag : Z Magnetic field (Gauss) (float)
|
|
abs_pressure : Absolute pressure in millibar (float)
|
|
diff_pressure : Differential pressure in millibar (float)
|
|
pressure_alt : Altitude calculated from pressure (float)
|
|
temperature : Temperature in degrees Celsius (float)
|
|
fields_updated : Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature (uint16_t)
|
|
|
|
'''
|
|
msg = MAVLink_highres_imu_message(time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag, abs_pressure, diff_pressure, pressure_alt, temperature, fields_updated)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def highres_imu_send(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag, abs_pressure, diff_pressure, pressure_alt, temperature, fields_updated):
|
|
'''
|
|
The IMU readings in SI units in NED body frame
|
|
|
|
time_usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t)
|
|
xacc : X acceleration (m/s^2) (float)
|
|
yacc : Y acceleration (m/s^2) (float)
|
|
zacc : Z acceleration (m/s^2) (float)
|
|
xgyro : Angular speed around X axis (rad / sec) (float)
|
|
ygyro : Angular speed around Y axis (rad / sec) (float)
|
|
zgyro : Angular speed around Z axis (rad / sec) (float)
|
|
xmag : X Magnetic field (Gauss) (float)
|
|
ymag : Y Magnetic field (Gauss) (float)
|
|
zmag : Z Magnetic field (Gauss) (float)
|
|
abs_pressure : Absolute pressure in millibar (float)
|
|
diff_pressure : Differential pressure in millibar (float)
|
|
pressure_alt : Altitude calculated from pressure (float)
|
|
temperature : Temperature in degrees Celsius (float)
|
|
fields_updated : Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature (uint16_t)
|
|
|
|
'''
|
|
return self.send(self.highres_imu_encode(time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag, abs_pressure, diff_pressure, pressure_alt, temperature, fields_updated))
|
|
|
|
def file_transfer_start_encode(self, transfer_uid, dest_path, direction, file_size, flags):
|
|
'''
|
|
Begin file transfer
|
|
|
|
transfer_uid : Unique transfer ID (uint64_t)
|
|
dest_path : Destination path (char)
|
|
direction : Transfer direction: 0: from requester, 1: to requester (uint8_t)
|
|
file_size : File size in bytes (uint32_t)
|
|
flags : RESERVED (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_file_transfer_start_message(transfer_uid, dest_path, direction, file_size, flags)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def file_transfer_start_send(self, transfer_uid, dest_path, direction, file_size, flags):
|
|
'''
|
|
Begin file transfer
|
|
|
|
transfer_uid : Unique transfer ID (uint64_t)
|
|
dest_path : Destination path (char)
|
|
direction : Transfer direction: 0: from requester, 1: to requester (uint8_t)
|
|
file_size : File size in bytes (uint32_t)
|
|
flags : RESERVED (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.file_transfer_start_encode(transfer_uid, dest_path, direction, file_size, flags))
|
|
|
|
def file_transfer_dir_list_encode(self, transfer_uid, dir_path, flags):
|
|
'''
|
|
Get directory listing
|
|
|
|
transfer_uid : Unique transfer ID (uint64_t)
|
|
dir_path : Directory path to list (char)
|
|
flags : RESERVED (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_file_transfer_dir_list_message(transfer_uid, dir_path, flags)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def file_transfer_dir_list_send(self, transfer_uid, dir_path, flags):
|
|
'''
|
|
Get directory listing
|
|
|
|
transfer_uid : Unique transfer ID (uint64_t)
|
|
dir_path : Directory path to list (char)
|
|
flags : RESERVED (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.file_transfer_dir_list_encode(transfer_uid, dir_path, flags))
|
|
|
|
def file_transfer_res_encode(self, transfer_uid, result):
|
|
'''
|
|
File transfer result
|
|
|
|
transfer_uid : Unique transfer ID (uint64_t)
|
|
result : 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device (uint8_t)
|
|
|
|
'''
|
|
msg = MAVLink_file_transfer_res_message(transfer_uid, result)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def file_transfer_res_send(self, transfer_uid, result):
|
|
'''
|
|
File transfer result
|
|
|
|
transfer_uid : Unique transfer ID (uint64_t)
|
|
result : 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device (uint8_t)
|
|
|
|
'''
|
|
return self.send(self.file_transfer_res_encode(transfer_uid, result))
|
|
|
|
def battery_status_encode(self, accu_id, voltage_cell_1, voltage_cell_2, voltage_cell_3, voltage_cell_4, voltage_cell_5, voltage_cell_6, current_battery, battery_remaining):
|
|
'''
|
|
Transmitte battery informations for a accu pack.
|
|
|
|
accu_id : Accupack ID (uint8_t)
|
|
voltage_cell_1 : Battery voltage of cell 1, in millivolts (1 = 1 millivolt) (uint16_t)
|
|
voltage_cell_2 : Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t)
|
|
voltage_cell_3 : Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t)
|
|
voltage_cell_4 : Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t)
|
|
voltage_cell_5 : Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t)
|
|
voltage_cell_6 : Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t)
|
|
current_battery : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t)
|
|
battery_remaining : Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery (int8_t)
|
|
|
|
'''
|
|
msg = MAVLink_battery_status_message(accu_id, voltage_cell_1, voltage_cell_2, voltage_cell_3, voltage_cell_4, voltage_cell_5, voltage_cell_6, current_battery, battery_remaining)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def battery_status_send(self, accu_id, voltage_cell_1, voltage_cell_2, voltage_cell_3, voltage_cell_4, voltage_cell_5, voltage_cell_6, current_battery, battery_remaining):
|
|
'''
|
|
Transmitte battery informations for a accu pack.
|
|
|
|
accu_id : Accupack ID (uint8_t)
|
|
voltage_cell_1 : Battery voltage of cell 1, in millivolts (1 = 1 millivolt) (uint16_t)
|
|
voltage_cell_2 : Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t)
|
|
voltage_cell_3 : Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t)
|
|
voltage_cell_4 : Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t)
|
|
voltage_cell_5 : Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t)
|
|
voltage_cell_6 : Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t)
|
|
current_battery : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t)
|
|
battery_remaining : Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery (int8_t)
|
|
|
|
'''
|
|
return self.send(self.battery_status_encode(accu_id, voltage_cell_1, voltage_cell_2, voltage_cell_3, voltage_cell_4, voltage_cell_5, voltage_cell_6, current_battery, battery_remaining))
|
|
|
|
def setpoint_8dof_encode(self, target_system, val1, val2, val3, val4, val5, val6, val7, val8):
|
|
'''
|
|
Set the 8 DOF setpoint for a controller.
|
|
|
|
target_system : System ID (uint8_t)
|
|
val1 : Value 1 (float)
|
|
val2 : Value 2 (float)
|
|
val3 : Value 3 (float)
|
|
val4 : Value 4 (float)
|
|
val5 : Value 5 (float)
|
|
val6 : Value 6 (float)
|
|
val7 : Value 7 (float)
|
|
val8 : Value 8 (float)
|
|
|
|
'''
|
|
msg = MAVLink_setpoint_8dof_message(target_system, val1, val2, val3, val4, val5, val6, val7, val8)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def setpoint_8dof_send(self, target_system, val1, val2, val3, val4, val5, val6, val7, val8):
|
|
'''
|
|
Set the 8 DOF setpoint for a controller.
|
|
|
|
target_system : System ID (uint8_t)
|
|
val1 : Value 1 (float)
|
|
val2 : Value 2 (float)
|
|
val3 : Value 3 (float)
|
|
val4 : Value 4 (float)
|
|
val5 : Value 5 (float)
|
|
val6 : Value 6 (float)
|
|
val7 : Value 7 (float)
|
|
val8 : Value 8 (float)
|
|
|
|
'''
|
|
return self.send(self.setpoint_8dof_encode(target_system, val1, val2, val3, val4, val5, val6, val7, val8))
|
|
|
|
def setpoint_6dof_encode(self, target_system, trans_x, trans_y, trans_z, rot_x, rot_y, rot_z):
|
|
'''
|
|
Set the 6 DOF setpoint for a attitude and position controller.
|
|
|
|
target_system : System ID (uint8_t)
|
|
trans_x : Translational Component in x (float)
|
|
trans_y : Translational Component in y (float)
|
|
trans_z : Translational Component in z (float)
|
|
rot_x : Rotational Component in x (float)
|
|
rot_y : Rotational Component in y (float)
|
|
rot_z : Rotational Component in z (float)
|
|
|
|
'''
|
|
msg = MAVLink_setpoint_6dof_message(target_system, trans_x, trans_y, trans_z, rot_x, rot_y, rot_z)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def setpoint_6dof_send(self, target_system, trans_x, trans_y, trans_z, rot_x, rot_y, rot_z):
|
|
'''
|
|
Set the 6 DOF setpoint for a attitude and position controller.
|
|
|
|
target_system : System ID (uint8_t)
|
|
trans_x : Translational Component in x (float)
|
|
trans_y : Translational Component in y (float)
|
|
trans_z : Translational Component in z (float)
|
|
rot_x : Rotational Component in x (float)
|
|
rot_y : Rotational Component in y (float)
|
|
rot_z : Rotational Component in z (float)
|
|
|
|
'''
|
|
return self.send(self.setpoint_6dof_encode(target_system, trans_x, trans_y, trans_z, rot_x, rot_y, rot_z))
|
|
|
|
def memory_vect_encode(self, address, ver, type, value):
|
|
'''
|
|
Send raw controller memory. The use of this message is discouraged for
|
|
normal packets, but a quite efficient way for testing
|
|
new messages and getting experimental debug output.
|
|
|
|
address : Starting address of the debug variables (uint16_t)
|
|
ver : Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below (uint8_t)
|
|
type : Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14 (uint8_t)
|
|
value : Memory contents at specified address (int8_t)
|
|
|
|
'''
|
|
msg = MAVLink_memory_vect_message(address, ver, type, value)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def memory_vect_send(self, address, ver, type, value):
|
|
'''
|
|
Send raw controller memory. The use of this message is discouraged for
|
|
normal packets, but a quite efficient way for testing
|
|
new messages and getting experimental debug output.
|
|
|
|
address : Starting address of the debug variables (uint16_t)
|
|
ver : Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below (uint8_t)
|
|
type : Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14 (uint8_t)
|
|
value : Memory contents at specified address (int8_t)
|
|
|
|
'''
|
|
return self.send(self.memory_vect_encode(address, ver, type, value))
|
|
|
|
def debug_vect_encode(self, name, time_usec, x, y, z):
|
|
'''
|
|
|
|
|
|
name : Name (char)
|
|
time_usec : Timestamp (uint64_t)
|
|
x : x (float)
|
|
y : y (float)
|
|
z : z (float)
|
|
|
|
'''
|
|
msg = MAVLink_debug_vect_message(name, time_usec, x, y, z)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def debug_vect_send(self, name, time_usec, x, y, z):
|
|
'''
|
|
|
|
|
|
name : Name (char)
|
|
time_usec : Timestamp (uint64_t)
|
|
x : x (float)
|
|
y : y (float)
|
|
z : z (float)
|
|
|
|
'''
|
|
return self.send(self.debug_vect_encode(name, time_usec, x, y, z))
|
|
|
|
def named_value_float_encode(self, time_boot_ms, name, value):
|
|
'''
|
|
Send a key-value pair as float. The use of this message is discouraged
|
|
for normal packets, but a quite efficient way for
|
|
testing new messages and getting experimental debug
|
|
output.
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
name : Name of the debug variable (char)
|
|
value : Floating point value (float)
|
|
|
|
'''
|
|
msg = MAVLink_named_value_float_message(time_boot_ms, name, value)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def named_value_float_send(self, time_boot_ms, name, value):
|
|
'''
|
|
Send a key-value pair as float. The use of this message is discouraged
|
|
for normal packets, but a quite efficient way for
|
|
testing new messages and getting experimental debug
|
|
output.
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
name : Name of the debug variable (char)
|
|
value : Floating point value (float)
|
|
|
|
'''
|
|
return self.send(self.named_value_float_encode(time_boot_ms, name, value))
|
|
|
|
def named_value_int_encode(self, time_boot_ms, name, value):
|
|
'''
|
|
Send a key-value pair as integer. The use of this message is
|
|
discouraged for normal packets, but a quite efficient
|
|
way for testing new messages and getting experimental
|
|
debug output.
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
name : Name of the debug variable (char)
|
|
value : Signed integer value (int32_t)
|
|
|
|
'''
|
|
msg = MAVLink_named_value_int_message(time_boot_ms, name, value)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def named_value_int_send(self, time_boot_ms, name, value):
|
|
'''
|
|
Send a key-value pair as integer. The use of this message is
|
|
discouraged for normal packets, but a quite efficient
|
|
way for testing new messages and getting experimental
|
|
debug output.
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
name : Name of the debug variable (char)
|
|
value : Signed integer value (int32_t)
|
|
|
|
'''
|
|
return self.send(self.named_value_int_encode(time_boot_ms, name, value))
|
|
|
|
def statustext_encode(self, severity, text):
|
|
'''
|
|
Status text message. These messages are printed in yellow in the COMM
|
|
console of QGroundControl. WARNING: They consume quite
|
|
some bandwidth, so use only for important status and
|
|
error messages. If implemented wisely, these messages
|
|
are buffered on the MCU and sent only at a limited
|
|
rate (e.g. 10 Hz).
|
|
|
|
severity : Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY. (uint8_t)
|
|
text : Status text message, without null termination character (char)
|
|
|
|
'''
|
|
msg = MAVLink_statustext_message(severity, text)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def statustext_send(self, severity, text):
|
|
'''
|
|
Status text message. These messages are printed in yellow in the COMM
|
|
console of QGroundControl. WARNING: They consume quite
|
|
some bandwidth, so use only for important status and
|
|
error messages. If implemented wisely, these messages
|
|
are buffered on the MCU and sent only at a limited
|
|
rate (e.g. 10 Hz).
|
|
|
|
severity : Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY. (uint8_t)
|
|
text : Status text message, without null termination character (char)
|
|
|
|
'''
|
|
return self.send(self.statustext_encode(severity, text))
|
|
|
|
def debug_encode(self, time_boot_ms, ind, value):
|
|
'''
|
|
Send a debug value. The index is used to discriminate between values.
|
|
These values show up in the plot of QGroundControl as
|
|
DEBUG N.
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
ind : index of debug variable (uint8_t)
|
|
value : DEBUG value (float)
|
|
|
|
'''
|
|
msg = MAVLink_debug_message(time_boot_ms, ind, value)
|
|
msg.pack(self)
|
|
return msg
|
|
|
|
def debug_send(self, time_boot_ms, ind, value):
|
|
'''
|
|
Send a debug value. The index is used to discriminate between values.
|
|
These values show up in the plot of QGroundControl as
|
|
DEBUG N.
|
|
|
|
time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t)
|
|
ind : index of debug variable (uint8_t)
|
|
value : DEBUG value (float)
|
|
|
|
'''
|
|
return self.send(self.debug_encode(time_boot_ms, ind, value))
|
|
|