1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
|
<?xml version='1.0'?>
<mavlink>
<version>1</version>
<enums>
<enum name="MAV_STATE">
<entry value="0" name="MAV_STATE_UNINIT">
<description>Uninitialized system, state is unknown.</description>
</entry>
<entry value="1" name="MAV_STATE_BOOT">
<description>System is booting up.</description>
</entry>
<entry value="2" name="MAV_STATE_CALIBRATING">
<description>System is calibrating and not flight-ready.</description>
</entry>
<entry value="3" name="MAV_STATE_STANDBY">
<description>System is grounded and on standby. It can be launched any time.</description>
</entry>
<entry value="4" name="MAV_STATE_ACTIVE">
<description>System is active and might be already airborne. Motors are engaged.</description>
</entry>
<entry value="5" name="MAV_STATE_CRITICAL">
<description>System is in a non-normal flight mode. It can however still navigate.</description>
</entry>
<entry value="6" name="MAV_STATE_EMERGENCY">
<description>System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.</description>
</entry>
<entry value="7" name="MAV_STATE_POWEROFF">
<description>System just initialized its power-down sequence, will shut down now.</description>
</entry>
</enum>
</enums>
<messages>
<message id="0" name="HEARTBEAT">
<description>The heartbeat message shows that a system is present and responding.</description>
<field type="uint8_t" name="system_state" enum="MAV_STATE">Global state of system.</field>
</message>
<message id="1" name="POWER">
<description>Information about the main power source.</description>
<field type="uint16_t" name="voltage">Voltage of the source (mV)</field>
</message>
<message id="2" name="IMU">
<description>The IMU readings in a NED body frame</description>
<field type="int32_t" name="xacc">X acceleration (mm/s^2)</field>
<field type="int32_t" name="yacc">Y acceleration (mm/s^2)</field>
<field type="int32_t" name="zacc">Z acceleration (mm/s^2)</field>
<field type="int32_t" name="xgyro">Angular speed around X axis (mrad / sec)</field>
<field type="int32_t" name="ygyro">Angular speed around Y axis (mrad / sec)</field>
<field type="int32_t" name="zgyro">Angular speed around Z axis (mrad / sec)</field>
<field type="int32_t" name="xmag">X Magnetic field (uT)</field>
<field type="int32_t" name="ymag">Y Magnetic field (uT)</field>
<field type="int32_t" name="zmag">Z Magnetic field (uT)</field>
<field type="int32_t" name="alt">Altitude to mean sea level (mm)</field>
<field type="uint32_t" name="temperature">Ambient temperature (mK)</field>
</message>
<message id="3" name="DISTANCE">
<description>Information on distance sensors</description>
<field type="int16_t" name="relative_alt">Relative altitude to ground (mm)</field>
</message>
<message name="PING" id="4">
<description>Ping a target system, usually used to determine latency.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
</message>
<message name="ACK" id="5">
<description>Acknowledgement packet</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
</message>
<message name="MOTOR" id="6">
<description>Status of motors</description>
<field type="uint8_t" name="m0">m0</field>
<field type="uint8_t" name="m1">m1</field>
<field type="uint8_t" name="m2">m2</field>
<field type="uint8_t" name="m3">m3</field>
</message>
<message id="30" name="ATTITUDE">
<description>The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right).</description>
<field type="int16_t" name="roll">Roll angle</field>
<field type="int16_t" name="pitch">Pitch angle</field>
<field type="uint16_t" name="yaw">Yaw angle</field>
</message>
<message id="70" name="RC_CHANNELS_OVERRIDE">
<description>The RAW values of the RC channels sent to the MAV to override info received from the RC radio. A value of UINT16_MAX 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.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="chan1_raw">RC channel 1 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan2_raw">RC channel 2 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan3_raw">RC channel 3 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan4_raw">RC channel 4 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan5_raw">RC channel 5 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan6_raw">RC channel 6 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan7_raw">RC channel 7 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan8_raw">RC channel 8 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
</message>
<message name="RADIO_STATUS" id="109">
<description>Status generated by radio</description>
<field type="uint8_t" name="rssi">local signal strength</field>
<field type="uint8_t" name="remrssi">remote signal strength</field>
<field type="uint8_t" name="txbuf">how full the tx buffer is as a percentage</field>
<field type="uint8_t" name="noise">background noise level</field>
<field type="uint8_t" name="remnoise">remote background noise level</field>
<field type="uint16_t" name="rxerrors">receive errors</field>
<field type="uint16_t" name="fixed">count of error corrected packets</field>
</message>
<message name="TEST_MESSAGE" id="110">
<description>Test</description>
<field type="uint8_t[2]" name="bytearray">a byte array</field>
<field type="float[20]" name="floatarray">a float array</field>
<field type="char" name="chars">a char</field>
<field type="double" name="doubles">a double</field>
<field type="char[20]" name="strings">a string</field>
</message>
</messages>
</mavlink>
|
