From 8aecc40ecbd5149ef1b3bf753dd067cddf693085 Mon Sep 17 00:00:00 2001 From: Jakob Odersky Date: Mon, 18 Apr 2016 03:16:16 -0700 Subject: Update mavlink dialect --- mavigator-bindings/mavlink/common.xml | 792 +++++++++++++++++++++++++++++++--- 1 file changed, 735 insertions(+), 57 deletions(-) diff --git a/mavigator-bindings/mavlink/common.xml b/mavigator-bindings/mavlink/common.xml index 7f35f07..163abe6 100644 --- a/mavigator-bindings/mavlink/common.xml +++ b/mavigator-bindings/mavlink/common.xml @@ -7,8 +7,8 @@ Generic autopilot, full support for everything - - PIXHAWK autopilot, http://pixhawk.ethz.ch + + Reserved for future use. SLUGS autopilot, http://slugsuav.soe.ucsc.edu @@ -123,10 +123,10 @@ Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter. - - - VTOL reserved 1 + + Tiltrotor VTOL + VTOL reserved 2 @@ -142,6 +142,27 @@ Onboard gimbal + + Onboard ADSB peripheral + + + + These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65. + + development release + + + alpha release + + + beta release + + + release candidate + + + official stable release + @@ -358,6 +379,18 @@ + + + + + + + + On Screen Display (OSD) devices for video links + + + Generic autopilot peripheral component ID. Meant for devices that do not implement the parameter sub-protocol + These encode the sensors whose status is sent as part of the SYS_STATUS message. @@ -430,6 +463,9 @@ 0x400000 Terrain subsystem health + + 0x800000 Motors are reversed + @@ -555,7 +591,7 @@ Turns Empty Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise - Desired yaw angle. + Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle Latitude Longitude Altitude @@ -565,7 +601,7 @@ Seconds (decimal) Empty Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise - Desired yaw angle. + Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle Latitude Longitude Altitude @@ -582,10 +618,10 @@ Land at location - Empty + Abort Alt Empty Empty - Desired yaw angle. + Desired yaw angle Latitude Longitude Altitude @@ -600,15 +636,75 @@ Longitude Altitude + + Land at local position (local frame only) + Landing target number (if available) + Maximum accepted offset from desired landing position [m] - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land + Landing descend rate [ms^-1] + Desired yaw angle [rad] + Y-axis position [m] + X-axis position [m] + Z-axis / ground level position [m] + + + Takeoff from local position (local frame only) + Minimum pitch (if airspeed sensor present), desired pitch without sensor [rad] + Empty + Takeoff ascend rate [ms^-1] + Yaw angle [rad] (if magnetometer or another yaw estimation source present), ignored without one of these + Y-axis position [m] + X-axis position [m] + Z-axis position [m] + + + Vehicle following, i.e. this waypoint represents the position of a moving vehicle + Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation + Ground speed of vehicle to be followed + Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise + Desired yaw angle. + Latitude + Longitude + Altitude + Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached. - Empty + Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude. Empty Empty Empty Empty Empty Desired altitude in meters + + + Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. + Heading Required (0 = False) + Radius in meters. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter. + Empty + Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location + Latitude + Longitude + Altitude + + + Being following a target + System ID (the system ID of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode + RESERVED + RESERVED + altitude flag: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home + altitude + RESERVED + TTL in seconds in which the MAV should go to the default position hold mode after a message rx timeout + + + Reposition the MAV after a follow target command has been sent + Camera q1 (where 0 is on the ray from the camera to the tracking device) + Camera q2 + Camera q3 + Camera q4 + altitude offset from target (m) + X offset from target (m) + Y offset from target (m) Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. @@ -640,6 +736,26 @@ Longitude/Y of goal Altitude/Z of goal + + Takeoff from ground using VTOL mode + Empty + Empty + Empty + Yaw angle in degrees + Latitude + Longitude + Altitude + + + Land using VTOL mode + Empty + Empty + Empty + Yaw angle in degrees + Latitude + Longitude + Altitude + @@ -1127,9 +1305,162 @@ Reserved + + + + User defined waypoint item. Ground Station will show the Vehicle as flying through this item. + User defined + User defined + User defined + User defined + Latitude unscaled + Longitude unscaled + Altitude, in meters AMSL + + + User defined waypoint item. Ground Station will show the Vehicle as flying through this item. + User defined + User defined + User defined + User defined + Latitude unscaled + Longitude unscaled + Altitude, in meters AMSL + + + User defined waypoint item. Ground Station will show the Vehicle as flying through this item. + User defined + User defined + User defined + User defined + Latitude unscaled + Longitude unscaled + Altitude, in meters AMSL + + + User defined waypoint item. Ground Station will show the Vehicle as flying through this item. + User defined + User defined + User defined + User defined + Latitude unscaled + Longitude unscaled + Altitude, in meters AMSL + + + User defined waypoint item. Ground Station will show the Vehicle as flying through this item. + User defined + User defined + User defined + User defined + Latitude unscaled + Longitude unscaled + Altitude, in meters AMSL + + + User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. + User defined + User defined + User defined + User defined + Latitude unscaled + Longitude unscaled + Altitude, in meters AMSL + + + User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. + User defined + User defined + User defined + User defined + Latitude unscaled + Longitude unscaled + Altitude, in meters AMSL + + + User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. + User defined + User defined + User defined + User defined + Latitude unscaled + Longitude unscaled + Altitude, in meters AMSL + + + User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. + User defined + User defined + User defined + User defined + Latitude unscaled + Longitude unscaled + Altitude, in meters AMSL + + + User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. + User defined + User defined + User defined + User defined + Latitude unscaled + Longitude unscaled + Altitude, in meters AMSL + + + User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. + User defined + User defined + User defined + User defined + User defined + User defined + User defined + + + User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. + User defined + User defined + User defined + User defined + User defined + User defined + User defined + + + User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. + User defined + User defined + User defined + User defined + User defined + User defined + User defined + + + User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. + User defined + User defined + User defined + User defined + User defined + User defined + User defined + + + User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. + User defined + User defined + User defined + User defined + User defined + User defined + User defined + + - Data stream IDs. A data stream is not a fixed set of messages, but rather a + THIS INTERFACE IS DEPRECATED AS OF JULY 2015. Please use MESSAGE_INTERVAL instead. A data stream is not a fixed set of messages, but rather a recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages. @@ -1371,6 +1702,9 @@ Second GPS port + + system shell + SERIAL_CONTROL flags (bitmask) @@ -1393,10 +1727,133 @@ Enumeration of distance sensor types - Laser altimeter, e.g. LightWare SF02/F or PulsedLight units + Laser rangefinder, e.g. LightWare SF02/F or PulsedLight units - Ultrasound altimeter, e.g. MaxBotix units + Ultrasound rangefinder, e.g. MaxBotix units + + + Infrared rangefinder, e.g. Sharp units + + + + Enumeration of sensor orientation, according to its rotations + + Roll: 0, Pitch: 0, Yaw: 0 + + + Roll: 0, Pitch: 0, Yaw: 45 + + + Roll: 0, Pitch: 0, Yaw: 90 + + + Roll: 0, Pitch: 0, Yaw: 135 + + + Roll: 0, Pitch: 0, Yaw: 180 + + + Roll: 0, Pitch: 0, Yaw: 225 + + + Roll: 0, Pitch: 0, Yaw: 270 + + + Roll: 0, Pitch: 0, Yaw: 315 + + + Roll: 180, Pitch: 0, Yaw: 0 + + + Roll: 180, Pitch: 0, Yaw: 45 + + + Roll: 180, Pitch: 0, Yaw: 90 + + + Roll: 180, Pitch: 0, Yaw: 135 + + + Roll: 0, Pitch: 180, Yaw: 0 + + + Roll: 180, Pitch: 0, Yaw: 225 + + + Roll: 180, Pitch: 0, Yaw: 270 + + + Roll: 180, Pitch: 0, Yaw: 315 + + + Roll: 90, Pitch: 0, Yaw: 0 + + + Roll: 90, Pitch: 0, Yaw: 45 + + + Roll: 90, Pitch: 0, Yaw: 90 + + + Roll: 90, Pitch: 0, Yaw: 135 + + + Roll: 270, Pitch: 0, Yaw: 0 + + + Roll: 270, Pitch: 0, Yaw: 45 + + + Roll: 270, Pitch: 0, Yaw: 90 + + + Roll: 270, Pitch: 0, Yaw: 135 + + + Roll: 0, Pitch: 90, Yaw: 0 + + + Roll: 0, Pitch: 270, Yaw: 0 + + + Roll: 0, Pitch: 180, Yaw: 90 + + + Roll: 0, Pitch: 180, Yaw: 270 + + + Roll: 90, Pitch: 90, Yaw: 0 + + + Roll: 180, Pitch: 90, Yaw: 0 + + + Roll: 270, Pitch: 90, Yaw: 0 + + + Roll: 90, Pitch: 180, Yaw: 0 + + + Roll: 270, Pitch: 180, Yaw: 0 + + + Roll: 90, Pitch: 270, Yaw: 0 + + + Roll: 180, Pitch: 270, Yaw: 0 + + + Roll: 270, Pitch: 270, Yaw: 0 + + + Roll: 90, Pitch: 180, Yaw: 90 + + + Roll: 90, Pitch: 0, Yaw: 270 + + + Roll: 315, Pitch: 315, Yaw: 315 @@ -1417,7 +1874,7 @@ Autopilot supports the new param union message type. - Autopilot supports the new param union message type. + Autopilot supports the new FILE_TRANSFER_PROTOCOL message type. Autopilot supports commanding attitude offboard. @@ -1434,6 +1891,12 @@ Autopilot supports direct actuator control. + + Autopilot supports the flight termination command. + + + Autopilot supports onboard compass calibration. + Enumeration of estimator types @@ -1459,10 +1922,10 @@ Not specified. - Lithium polymere battery + Lithium polymer battery - Lithium ferrite battery + Lithium-iron-phosphate battery Lithium-ION battery @@ -1474,7 +1937,7 @@ Enumeration of battery functions - Lithium polymere battery + Battery function is unknown Battery supports all flight systems @@ -1489,6 +1952,78 @@ Payload battery + + Enumeration of VTOL states + + MAV is not configured as VTOL + + + VTOL is in transition from multicopter to fixed-wing + + + VTOL is in transition from fixed-wing to multicopter + + + VTOL is in multicopter state + + + VTOL is in fixed-wing state + + + + Enumeration of landed detector states + + MAV landed state is unknown + + + MAV is landed (on ground) + + + MAV is in air + + + + Enumeration of the ADSB altimeter types + + Altitude reported from a Baro source using QNH reference + + + Altitude reported from a GNSS source + + + + ADSB classification for the type of vehicle emitting the transponder signal + + + + + + + + + + + + + + + + + + + + + + + These flags indicate status such as data validity of each data source. Set = data valid + + + + + + + + @@ -1547,7 +2082,7 @@ key - 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. + THIS INTERFACE IS DEPRECATED. USE COMMAND_LONG with MAV_CMD_DO_SET_MODE INSTEAD. 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. The system setting the mode The new base mode The new autopilot-specific mode. This field can be ignored by an autopilot. @@ -1589,8 +2124,8 @@ Latitude (WGS84), in degrees * 1E7 Longitude (WGS84), in degrees * 1E7 Altitude (AMSL, NOT WGS84), in meters * 1000 (positive for up). Note that virtually all GPS modules provide the AMSL altitude in addition to the WGS84 altitude. - GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX - GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX + GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX + GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX Number of satellites visible. If unknown, set to 255 @@ -1634,8 +2169,8 @@ 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. Timestamp (microseconds since UNIX epoch or microseconds since system boot) Absolute pressure (raw) - Differential pressure 1 (raw) - Differential pressure 2 (raw) + Differential pressure 1 (raw, 0 if nonexistant) + Differential pressure 2 (raw, 0 if nonexistant) Raw Temperature measurement (raw) @@ -1680,14 +2215,14 @@ 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. Timestamp (milliseconds since system boot) - Latitude, expressed as * 1E7 - Longitude, expressed as * 1E7 + Latitude, expressed as degrees * 1E7 + Longitude, expressed as degrees * 1E7 Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well) Altitude above ground in meters, expressed as * 1000 (millimeters) - Ground X Speed (Latitude), expressed as m/s * 100 - Ground Y Speed (Longitude), expressed as m/s * 100 - Ground Z Speed (Altitude), expressed as m/s * 100 - Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX + Ground X Speed (Latitude, positive north), expressed as m/s * 100 + Ground Y Speed (Longitude, positive east), expressed as m/s * 100 + Ground Z Speed (Altitude, positive down), expressed as m/s * 100 + Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX The scaled values of the RC channels received. (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to UINT16_MAX. @@ -1887,16 +2422,19 @@ 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) - Timestamp (milliseconds since system boot) + Timestamp (milliseconds since system boot). 0 for system without monotonic timestamp Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver. Class id of the estimator this estimate originated from. X Position Y Position Z Position - X Speed - Y Speed - Z Speed - Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.) + X Speed (m/s) + Y Speed (m/s) + Z Speed (m/s) + X Acceleration (m/s^2) + Y Acceleration (m/s^2) + Z Acceleration (m/s^2) + Covariance matrix upper right triangular (first nine entries are the first ROW, next eight entries are the second row, etc.) The PPM 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. @@ -1923,15 +2461,17 @@ Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. + THIS INTERFACE IS DEPRECATED. USE SET_MESSAGE_INTERVAL INSTEAD. The target requested to send the message stream. The target requested to send the message stream. The ID of the requested data stream - The requested interval between two messages of this type + The requested message rate 1 to start sending, 0 to stop sending. + THIS INTERFACE IS DEPRECATED. USE MESSAGE_INTERVAL INSTEAD. The ID of the requested data stream - The requested interval between two messages of this type + The message rate 1 stream is enabled, 0 stream is stopped. @@ -1939,7 +2479,7 @@ The system to be controlled. 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. 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. - 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. + 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. Positive values are positive thrust, negative values are negative thrust. 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. A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. @@ -2029,7 +2569,7 @@ Override mode switch position, 0.. 255 - Set the vehicle attitude and body angular rates. + Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system). Timestamp in milliseconds since system boot System ID Component ID @@ -2041,7 +2581,7 @@ Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) - Set the vehicle attitude and body angular rates. + Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way. Timestamp in milliseconds since system boot Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) @@ -2051,7 +2591,7 @@ Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) - Set vehicle position, velocity and acceleration setpoint in local frame. + Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system). Timestamp in milliseconds since system boot System ID Component ID @@ -2070,7 +2610,7 @@ yaw rate setpoint in rad/s - Set vehicle position, velocity and acceleration setpoint in local frame. + Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way. Timestamp in milliseconds since system boot Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9 Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate @@ -2087,7 +2627,7 @@ yaw rate setpoint in rad/s - Set vehicle position, velocity and acceleration setpoint in the WGS84 coordinate system. + Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84). Used by an external controller to command the vehicle (manual controller or other system). Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency. System ID Component ID @@ -2106,7 +2646,7 @@ yaw rate setpoint in rad/s - Set vehicle position, velocity and acceleration setpoint in the WGS84 coordinate system. + Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way. Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency. Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11 Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate @@ -2275,7 +2815,7 @@ Differential pressure (airspeed) in millibar Altitude calculated from pressure Temperature in degrees celsius - Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature + Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim. @@ -2324,6 +2864,11 @@ Time synchronization message. Time sync timestamp 1 Time sync timestamp 2 + + + Camera-IMU triggering and synchronisation message. + Timestamp for the image frame in microseconds + Image frame sequence The global position, as returned by the Global Positioning System (GPS). This is @@ -2531,7 +3076,7 @@ Current distance reading Type from MAV_DISTANCE_SENSOR enum. Onboard ID of the sensor - Direction the sensor faces from FIXME enum. + Direction the sensor faces from MAV_SENSOR_ORIENTATION enum. Measurement covariance in centimeters, 0 for unknown / invalid readings @@ -2593,13 +3138,72 @@ Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances. Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs. + + The current system altitude. + Timestamp (milliseconds since system boot) + This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights. + This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output AMSL by default and not the WGS84 altitude. + This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive. + This is the altitude above the home position. It resets on each change of the current home position. + This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown. + This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available. + + + The autopilot is requesting a resource (file, binary, other type of data) + Request ID. This ID should be re-used when sending back URI contents + The type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary + The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum) + The way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream. + The storage path the autopilot wants the URI to be stored in. Will only be valid if the transfer_type has a storage associated (e.g. MAVLink FTP). + + + Barometer readings for 3rd barometer + Timestamp (milliseconds since system boot) + Absolute pressure (hectopascal) + Differential pressure 1 (hectopascal) + Temperature measurement (0.01 degrees celsius) + + + current motion information from a designated system + Timestamp in milliseconds since system boot + bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3) + Latitude (WGS84), in degrees * 1E7 + Longitude (WGS84), in degrees * 1E7 + AMSL, in meters + target velocity (0,0,0) for unknown + linear target acceleration (0,0,0) for unknown + (1 0 0 0 for unknown) + (0 0 0 for unknown) + eph epv + button states or switches of a tracker device + + + The smoothed, monotonic system state used to feed the control loops of the system. + Timestamp (micros since boot or Unix epoch) + X acceleration in body frame + Y acceleration in body frame + Z acceleration in body frame + X velocity in body frame + Y velocity in body frame + Z velocity in body frame + X position in local frame + Y position in local frame + Z position in local frame + Airspeed, set to -1 if unknown + Variance of body velocity estimate + Variance in local position + The attitude, represented as Quaternion + Angular rate in roll axis + Angular rate in pitch axis + Angular rate in yaw axis + Battery information Battery ID Function of the battery Type (chemistry) of the battery Temperature of the battery in centi-degrees celsius. INT16_MAX for unknown temperature. - Battery voltage of cells, in millivolts (1 = 1 millivolt) + Battery voltage of cells, in millivolts (1 = 1 millivolt). Cells above the valid cell count for this battery should have the UINT16_MAX value. Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate @@ -2619,7 +3223,81 @@ ID of the product UID if provided by hardware + + The location of a landing area captured from a downward facing camera + Timestamp (micros since boot or Unix epoch) + The ID of the target if multiple targets are present + MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc. + X-axis angular offset (in radians) of the target from the center of the image + Y-axis angular offset (in radians) of the target from the center of the image + Distance to the target from the vehicle in meters + Size in radians of target along x-axis + Size in radians of target along y-axis + + + Vibration levels and accelerometer clipping + Timestamp (micros since boot or Unix epoch) + Vibration levels on X-axis + Vibration levels on Y-axis + Vibration levels on Z-axis + first accelerometer clipping count + second accelerometer clipping count + third accelerometer clipping count + + + This message can be requested by sending the MAV_CMD_GET_HOME_POSITION command. The position the system will return to and land on. The position is set automatically by the system during the takeoff in case it was not explicitely set by the operator before or after. The position the system will return to and land on. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. + Latitude (WGS84), in degrees * 1E7 + Longitude (WGS84, in degrees * 1E7 + Altitude (AMSL), in meters * 1000 (positive for up) + Local X position of this position in the local coordinate frame + Local Y position of this position in the local coordinate frame + Local Z position of this position in the local coordinate frame + World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground + Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. + Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. + Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. + + + The position the system will return to and land on. The position is set automatically by the system during the takeoff in case it was not explicitely set by the operator before or after. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. + System ID. + Latitude (WGS84), in degrees * 1E7 + Longitude (WGS84, in degrees * 1E7 + Altitude (AMSL), in meters * 1000 (positive for up) + Local X position of this position in the local coordinate frame + Local Y position of this position in the local coordinate frame + Local Z position of this position in the local coordinate frame + World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground + Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. + Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. + Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. + + + This interface replaces DATA_STREAM + The ID of the requested MAVLink message. v1.0 is limited to 254 messages. + The interval between two messages, in microseconds. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent. + + + Provides state for additional features + The VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration. + The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown. + + + The location and information of an ADSB vehicle + ICAO address + Latitude, expressed as degrees * 1E7 + Longitude, expressed as degrees * 1E7 + Type from ADSB_ALTITUDE_TYPE enum + Altitude(ASL) in millimeters + Course over ground in centidegrees + The horizontal velocity in centimeters/second + The vertical velocity in centimeters/second, positive is up + The callsign, 8+null + Type from ADSB_EMITTER_TYPE enum + Time since last communication in seconds + Flags to indicate various statuses including valid data fields + Squawk code + Message implementing parts of the V2 payload specs in V1 frames for transitional support. Network ID (0 for broadcast) -- cgit v1.2.3