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| author | Jakob Odersky <jakob@odersky.com> | 2016-04-18 03:16:16 -0700 |
|---|---|---|
| committer | Jakob Odersky <jakob@odersky.com> | 2016-04-18 03:16:16 -0700 |
| commit | 8aecc40ecbd5149ef1b3bf753dd067cddf693085 (patch) | |
| tree | 226aed67f6cca3d1a97108b443003d7e25b7c732 | |
| parent | 05f2776ccb9989dbc359276c5c36c46d8282fc8f (diff) | |
| download | mavigator-8aecc40ecbd5149ef1b3bf753dd067cddf693085.tar.gz mavigator-8aecc40ecbd5149ef1b3bf753dd067cddf693085.tar.bz2 mavigator-8aecc40ecbd5149ef1b3bf753dd067cddf693085.zip | |
Update mavlink dialect
| -rw-r--r-- | mavigator-bindings/mavlink/common.xml | 792 |
1 files 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 @@ <entry value="0" name="MAV_AUTOPILOT_GENERIC"> <description>Generic autopilot, full support for everything</description> </entry> - <entry value="1" name="MAV_AUTOPILOT_PIXHAWK"> - <description>PIXHAWK autopilot, http://pixhawk.ethz.ch</description> + <entry value="1" name="MAV_AUTOPILOT_RESERVED"> + <description>Reserved for future use.</description> </entry> <entry value="2" name="MAV_AUTOPILOT_SLUGS"> <description>SLUGS autopilot, http://slugsuav.soe.ucsc.edu</description> @@ -123,10 +123,10 @@ <entry value="20" name="MAV_TYPE_VTOL_QUADROTOR"> <description>Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.</description> </entry> - <!-- Entries up to 25 reserved for other VTOL airframes --> - <entry value="21" name="MAV_TYPE_VTOL_RESERVED1"> - <description>VTOL reserved 1</description> + <entry value="21" name="MAV_TYPE_VTOL_TILTROTOR"> + <description>Tiltrotor VTOL</description> </entry> + <!-- Entries up to 25 reserved for other VTOL airframes --> <entry value="22" name="MAV_TYPE_VTOL_RESERVED2"> <description>VTOL reserved 2</description> </entry> @@ -142,6 +142,27 @@ <entry value="26" name="MAV_TYPE_GIMBAL"> <description>Onboard gimbal</description> </entry> + <entry value="27" name="MAV_TYPE_ADSB"> + <description>Onboard ADSB peripheral</description> + </entry> + </enum> + <enum name="FIRMWARE_VERSION_TYPE"> + <description>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.</description> + <entry value="0" name="FIRMWARE_VERSION_TYPE_DEV"> + <description>development release</description> + </entry> + <entry value="64" name="FIRMWARE_VERSION_TYPE_ALPHA"> + <description>alpha release</description> + </entry> + <entry value="128" name="FIRMWARE_VERSION_TYPE_BETA"> + <description>beta release</description> + </entry> + <entry value="192" name="FIRMWARE_VERSION_TYPE_RC"> + <description>release candidate</description> + </entry> + <entry value="255" name="FIRMWARE_VERSION_TYPE_OFFICIAL"> + <description>official stable release</description> + </entry> </enum> <!-- WARNING: MAV_ACTION Enum is no longer supported - has been removed. Please use MAV_CMD --> <enum name="MAV_MODE_FLAG"> @@ -358,6 +379,18 @@ <entry value="154" name="MAV_COMP_ID_GIMBAL"> <description/> </entry> + <entry value="155" name="MAV_COMP_ID_LOG"> + <description/> + </entry> + <entry value="156" name="MAV_COMP_ID_ADSB"> + <description/> + </entry> + <entry value="157" name="MAV_COMP_ID_OSD"> + <description>On Screen Display (OSD) devices for video links</description> + </entry> + <entry value="158" name="MAV_COMP_ID_PERIPHERAL"> + <description>Generic autopilot peripheral component ID. Meant for devices that do not implement the parameter sub-protocol</description> + </entry> </enum> <enum name="MAV_SYS_STATUS_SENSOR"> <description>These encode the sensors whose status is sent as part of the SYS_STATUS message.</description> @@ -430,6 +463,9 @@ <entry value="4194304" name="MAV_SYS_STATUS_TERRAIN"> <description>0x400000 Terrain subsystem health</description> </entry> + <entry value="8388608" name="MAV_SYS_STATUS_REVERSE_MOTOR"> + <description>0x800000 Motors are reversed</description> + </entry> </enum> <enum name="MAV_FRAME"> <entry value="0" name="MAV_FRAME_GLOBAL"> @@ -555,7 +591,7 @@ <param index="1">Turns</param> <param index="2">Empty</param> <param index="3">Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise</param> - <param index="4">Desired yaw angle.</param> + <param index="4">Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle</param> <param index="5">Latitude</param> <param index="6">Longitude</param> <param index="7">Altitude</param> @@ -565,7 +601,7 @@ <param index="1">Seconds (decimal)</param> <param index="2">Empty</param> <param index="3">Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise</param> - <param index="4">Desired yaw angle.</param> + <param index="4">Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle</param> <param index="5">Latitude</param> <param index="6">Longitude</param> <param index="7">Altitude</param> @@ -582,10 +618,10 @@ </entry> <entry value="21" name="MAV_CMD_NAV_LAND"> <description>Land at location</description> - <param index="1">Empty</param> + <param index="1">Abort Alt</param> <param index="2">Empty</param> <param index="3">Empty</param> - <param index="4">Desired yaw angle.</param> + <param index="4">Desired yaw angle</param> <param index="5">Latitude</param> <param index="6">Longitude</param> <param index="7">Altitude</param> @@ -600,9 +636,39 @@ <param index="6">Longitude</param> <param index="7">Altitude</param> </entry> + <entry value="23" name="MAV_CMD_NAV_LAND_LOCAL"> + <description>Land at local position (local frame only)</description> + <param index="1">Landing target number (if available)</param> + <param index="2">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</param> + <param index="3">Landing descend rate [ms^-1]</param> + <param index="4">Desired yaw angle [rad]</param> + <param index="5">Y-axis position [m]</param> + <param index="6">X-axis position [m]</param> + <param index="7">Z-axis / ground level position [m]</param> + </entry> + <entry value="24" name="MAV_CMD_NAV_TAKEOFF_LOCAL"> + <description>Takeoff from local position (local frame only)</description> + <param index="1">Minimum pitch (if airspeed sensor present), desired pitch without sensor [rad]</param> + <param index="2">Empty</param> + <param index="3">Takeoff ascend rate [ms^-1]</param> + <param index="4">Yaw angle [rad] (if magnetometer or another yaw estimation source present), ignored without one of these</param> + <param index="5">Y-axis position [m]</param> + <param index="6">X-axis position [m]</param> + <param index="7">Z-axis position [m]</param> + </entry> + <entry value="25" name="MAV_CMD_NAV_FOLLOW"> + <description>Vehicle following, i.e. this waypoint represents the position of a moving vehicle</description> + <param index="1">Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation</param> + <param index="2">Ground speed of vehicle to be followed</param> + <param index="3">Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise</param> + <param index="4">Desired yaw angle.</param> + <param index="5">Latitude</param> + <param index="6">Longitude</param> + <param index="7">Altitude</param> + </entry> <entry value="30" name="MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT"> <description>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.</description> - <param index="1">Empty</param> + <param index="1">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. </param> <param index="2">Empty</param> <param index="3">Empty</param> <param index="4">Empty</param> @@ -610,6 +676,36 @@ <param index="6">Empty</param> <param index="7">Desired altitude in meters</param> </entry> + <entry value="31" name="MAV_CMD_NAV_LOITER_TO_ALT"> + <description>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. </description> + <param index="1">Heading Required (0 = False)</param> + <param index="2">Radius in meters. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.</param> + <param index="3">Empty</param> + <param index="4">Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location</param> + <param index="5">Latitude</param> + <param index="6">Longitude</param> + <param index="7">Altitude</param> + </entry> + <entry value="32" name="MAV_CMD_DO_FOLLOW"> + <description>Being following a target</description> + <param index="1">System ID (the system ID of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode</param> + <param index="2">RESERVED</param> + <param index="3">RESERVED</param> + <param index="4">altitude flag: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home</param> + <param index="5">altitude</param> + <param index="6">RESERVED</param> + <param index="7">TTL in seconds in which the MAV should go to the default position hold mode after a message rx timeout</param> + </entry> + <entry value="33" name="MAV_CMD_DO_FOLLOW_REPOSITION"> + <description>Reposition the MAV after a follow target command has been sent</description> + <param index="1">Camera q1 (where 0 is on the ray from the camera to the tracking device)</param> + <param index="2">Camera q2</param> + <param index="3">Camera q3</param> + <param index="4">Camera q4</param> + <param index="5">altitude offset from target (m)</param> + <param index="6">X offset from target (m)</param> + <param index="7">Y offset from target (m)</param> + </entry> <entry value="80" name="MAV_CMD_NAV_ROI"> <description>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.</description> <param index="1">Region of intereset mode. (see MAV_ROI enum)</param> @@ -640,6 +736,26 @@ <param index="6">Longitude/Y of goal</param> <param index="7">Altitude/Z of goal</param> </entry> + <entry value="84" name="MAV_CMD_NAV_VTOL_TAKEOFF"> + <description>Takeoff from ground using VTOL mode</description> + <param index="1">Empty</param> + <param index="2">Empty</param> + <param index="3">Empty</param> + <param index="4">Yaw angle in degrees</param> + <param index="5">Latitude</param> + <param index="6">Longitude</param> + <param index="7">Altitude</param> + </entry> + <entry value="85" name="MAV_CMD_NAV_VTOL_LAND"> + <description>Land using VTOL mode</description> + <param index="1">Empty</param> + <param index="2">Empty</param> + <param index="3">Empty</param> + <param index="4">Yaw angle in degrees</param> + <param index="5">Latitude</param> + <param index="6">Longitude</param> + <param index="7">Altitude</param> + </entry> <!-- IDs 90 and 91 are reserved until the end of 2014, as they were used in some conflicting proposals @@ -720,7 +836,7 @@ <description>Set system mode.</description> <param index="1">Mode, as defined by ENUM MAV_MODE</param> <param index="2">Custom mode - this is system specific, please refer to the individual autopilot specifications for details.</param> - <param index="3">Empty</param> + <param index="3">Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.</param> <param index="4">Empty</param> <param index="5">Empty</param> <param index="6">Empty</param> @@ -846,6 +962,27 @@ <param index="6">Empty</param> <param index="7">Empty</param> </entry> + + <entry value="192" name="MAV_CMD_DO_REPOSITION"> + <description>Reposition the vehicle to a specific WGS84 global position.</description> + <param index="1">Ground speed, less than 0 (-1) for default</param> + <param index="2">Reserved</param> + <param index="3">Reserved</param> + <param index="4">Yaw heading, NaN for unchanged</param> + <param index="5">Latitude (deg * 1E7)</param> + <param index="6">Longitude (deg * 1E7)</param> + <param index="7">Altitude (meters)</param> + </entry> + <entry value="193" name="MAV_CMD_DO_PAUSE_CONTINUE"> + <description>If in a GPS controlled position mode, hold the current position or continue.</description> + <param index="1">0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.</param> + <param index="2">Reserved</param> + <param index="3">Reserved</param> + <param index="4">Reserved</param> + <param index="5">Reserved</param> + <param index="6">Reserved</param> + <param index="7">Reserved</param> + </entry> <entry value="200" name="MAV_CMD_DO_CONTROL_VIDEO"> <description>Control onboard camera system.</description> <param index="1">Camera ID (-1 for all)</param> @@ -926,7 +1063,7 @@ <entry name="MAV_CMD_DO_FENCE_ENABLE" value="207"> <description>Mission command to enable the geofence</description> - <param index="1">enable? (0=disable, 1=enable)</param> + <param index="1">enable? (0=disable, 1=enable, 2=disable_floor_only)</param> <param index="2">Empty</param> <param index="3">Empty</param> <param index="4">Empty</param> @@ -1020,11 +1157,21 @@ <param index="6">Generic dimension 5, in the sensor's raw units</param> <param index="7">Generic dimension 6, in the sensor's raw units</param> </entry> + <entry value="243" name="MAV_CMD_PREFLIGHT_UAVCAN"> + <description>Trigger UAVCAN config. This command will be only accepted if in pre-flight mode.</description> + <param index="1">1: Trigger actuator ID assignment and direction mapping.</param> + <param index="2">Reserved</param> + <param index="3">Reserved</param> + <param index="4">Reserved</param> + <param index="5">Reserved</param> + <param index="6">Reserved</param> + <param index="7">Reserved</param> + </entry> <entry value="245" name="MAV_CMD_PREFLIGHT_STORAGE"> <description>Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.</description> - <param index="1">Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM</param> - <param index="2">Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM</param> - <param index="3">Reserved</param> + <param index="1">Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults</param> + <param index="2">Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults</param> + <param index="3">Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: start logging with rate of param 3 in Hz (e.g. set to 1000 for 1000 Hz logging)</param> <param index="4">Reserved</param> <param index="5">Empty</param> <param index="6">Empty</param> @@ -1032,13 +1179,13 @@ </entry> <entry value="246" name="MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN"> <description>Request the reboot or shutdown of system components.</description> - <param index="1">0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.</param> - <param index="2">0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.</param> - <param index="3">Reserved</param> - <param index="4">Reserved</param> - <param index="5">Empty</param> - <param index="6">Empty</param> - <param index="7">Empty</param> + <param index="1">0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.</param> + <param index="2">0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.</param> + <param index="3">Reserved, send 0</param> + <param index="4">Reserved, send 0</param> + <param index="5">Reserved, send 0</param> + <param index="6">Reserved, send 0</param> + <param index="7">Reserved, send 0</param> </entry> <entry value="252" name="MAV_CMD_OVERRIDE_GOTO"> <description>Hold / continue the current action</description> @@ -1059,11 +1206,30 @@ <description>Arms / Disarms a component</description> <param index="1">1 to arm, 0 to disarm</param> </entry> + <entry value="410" name="MAV_CMD_GET_HOME_POSITION"> + <description>Request the home position from the vehicle.</description> + <param index="1">Reserved</param> + <param index="2">Reserved</param> + <param index="3">Reserved</param> + <param index="4">Reserved</param> + <param index="5">Reserved</param> + <param index="6">Reserved</param> + <param index="7">Reserved</param> + </entry> <entry value="500" name="MAV_CMD_START_RX_PAIR"> <description>Starts receiver pairing</description> <param index="1">0:Spektrum</param> <param index="2">0:Spektrum DSM2, 1:Spektrum DSMX</param> </entry> + <entry value="510" name="MAV_CMD_GET_MESSAGE_INTERVAL"> + <description>Request the interval between messages for a particular MAVLink message ID</description> + <param index="1">The MAVLink message ID</param> + </entry> + <entry value="511" name="MAV_CMD_SET_MESSAGE_INTERVAL"> + <description>Request the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM</description> + <param index="1">The MAVLink message ID</param> + <param index="2">The interval between two messages, in microseconds. Set to -1 to disable and 0 to request default rate.</param> + </entry> <entry value="520" name="MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES"> <description>Request autopilot capabilities</description> <param index="1">1: Request autopilot version</param> @@ -1081,6 +1247,13 @@ <param index="1">Reserved</param> <param index="2">Reserved</param> </entry> + + <entry name="MAV_CMD_DO_TRIGGER_CONTROL" value="2003"> + <description>Enable or disable on-board camera triggering system.</description> + <param index="1">Trigger enable/disable (0 for disable, 1 for start)</param> + <param index="2">Shutter integration time (in ms)</param> + <param index="3">Reserved</param> + </entry> <entry value="2500" name="MAV_CMD_VIDEO_START_CAPTURE"> <description>Starts video capture</description> @@ -1103,6 +1276,11 @@ <param index="4">Speed of the vertical rotation (in degrees per second)</param> </entry> + <entry value="3000" name="MAV_CMD_DO_VTOL_TRANSITION"> + <description>Request VTOL transition</description> + <param index="1">The target VTOL state, as defined by ENUM MAV_VTOL_STATE. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.</param> + </entry> + <!-- VALUES FROM 0-40000 are reserved for the common message set. Values from 40000 to UINT16_MAX are available for dialects --> <!-- BEGIN of payload range (30000 to 30999) --> @@ -1127,9 +1305,162 @@ <param index="7">Reserved</param> </entry> <!-- END of payload range (30000 to 30999) --> + + <!-- BEGIN user defined range (31000 to 31999) --> + <entry value="31000" name="MAV_CMD_WAYPOINT_USER_1"> + <description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description> + <param index="1">User defined</param> + <param index="2">User defined</param> + <param index="3">User defined</param> + <param index="4">User defined</param> + <param index="5">Latitude unscaled</param> + <param index="6">Longitude unscaled</param> + <param index="7">Altitude, in meters AMSL</param> + </entry> + <entry value="31001" name="MAV_CMD_WAYPOINT_USER_2"> + <description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description> + <param index="1">User defined</param> + <param index="2">User defined</param> + <param index="3">User defined</param> + <param index="4">User defined</param> + <param index="5">Latitude unscaled</param> + <param index="6">Longitude unscaled</param> + <param index="7">Altitude, in meters AMSL</param> + </entry> + <entry value="31002" name="MAV_CMD_WAYPOINT_USER_3"> + <description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description> + <param index="1">User defined</param> + <param index="2">User defined</param> + <param index="3">User defined</param> + <param index="4">User defined</param> + <param index="5">Latitude unscaled</param> + <param index="6">Longitude unscaled</param> + <param index="7">Altitude, in meters AMSL</param> + </entry> + <entry value="31003" name="MAV_CMD_WAYPOINT_USER_4"> + <description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description> + <param index="1">User defined</param> + <param index="2">User defined</param> + <param index="3">User defined</param> + <param index="4">User defined</param> + <param index="5">Latitude unscaled</param> + <param index="6">Longitude unscaled</param> + <param index="7">Altitude, in meters AMSL</param> + </entry> + <entry value="31004" name="MAV_CMD_WAYPOINT_USER_5"> + <description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description> + <param index="1">User defined</param> + <param index="2">User defined</param> + <param index="3">User defined</param> + <param index="4">User defined</param> + <param index="5">Latitude unscaled</param> + <param index="6">Longitude unscaled</param> + <param index="7">Altitude, in meters AMSL</param> + </entry> + <entry value="31005" name="MAV_CMD_SPATIAL_USER_1"> + <description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description> + <param index="1">User defined</param> + <param index="2">User defined</param> + <param index="3">User defined</param> + <param index="4">User defined</param> + <param index="5">Latitude unscaled</param> + <param index="6">Longitude unscaled</param> + <param index="7">Altitude, in meters AMSL</param> + </entry> + <entry value="31006" name="MAV_CMD_SPATIAL_USER_2"> + <description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description> + <param index="1">User defined</param> + <param index="2">User defined</param> + <param index="3">User defined</param> + <param index="4">User defined</param> + <param index="5">Latitude unscaled</param> + <param index="6">Longitude unscaled</param> + <param index="7">Altitude, in meters AMSL</param> + </entry> + <entry value="31007" name="MAV_CMD_SPATIAL_USER_3"> + <description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description> + <param index="1">User defined</param> + <param index="2">User defined</param> + <param index="3">User defined</param> + <param index="4">User defined</param> + <param index="5">Latitude unscaled</param> + <param index="6">Longitude unscaled</param> + <param index="7">Altitude, in meters AMSL</param> + </entry> + <entry value="31008" name="MAV_CMD_SPATIAL_USER_4"> + <description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description> + <param index="1">User defined</param> + <param index="2">User defined</param> + <param index="3">User defined</param> + <param index="4">User defined</param> + <param index="5">Latitude unscaled</param> + <param index="6">Longitude unscaled</param> + <param index="7">Altitude, in meters AMSL</param> + </entry> + <entry value="31009" name="MAV_CMD_SPATIAL_USER_5"> + <description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description> + <param index="1">User defined</param> + <param index="2">User defined</param> + <param index="3">User defined</param> + <param index="4">User defined</param> + <param index="5">Latitude unscaled</param> + <param index="6">Longitude unscaled</param> + <param index="7">Altitude, in meters AMSL</param> + </entry> + <entry value="31010" name="MAV_CMD_USER_1"> + <description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description> + <param index="1">User defined</param> + <param index="2">User defined</param> + <param index="3">User defined</param> + <param index="4">User defined</param> + <param index="5">User defined</param> + <param index="6">User defined</param> + <param index="7">User defined</param> + </entry> + <entry value="31011" name="MAV_CMD_USER_2"> + <description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description> + <param index="1">User defined</param> + <param index="2">User defined</param> + <param index="3">User defined</param> + <param index="4">User defined</param> + <param index="5">User defined</param> + <param index="6">User defined</param> + <param index="7">User defined</param> + </entry> + <entry value="31012" name="MAV_CMD_USER_3"> + <description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description> + <param index="1">User defined</param> + <param index="2">User defined</param> + <param index="3">User defined</param> + <param index="4">User defined</param> + <param index="5">User defined</param> + <param index="6">User defined</param> + <param index="7">User defined</param> + </entry> + <entry value="31013" name="MAV_CMD_USER_4"> + <description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description> + <param index="1">User defined</param> + <param index="2">User defined</param> + <param index="3">User defined</param> + <param index="4">User defined</param> + <param index="5">User defined</param> + <param index="6">User defined</param> + <param index="7">User defined</param> + </entry> + <entry value="31014" name="MAV_CMD_USER_5"> + <description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description> + <param index="1">User defined</param> + <param index="2">User defined</param> + <param index="3">User defined</param> + <param index="4">User defined</param> + <param index="5">User defined</param> + <param index="6">User defined</param> + <param index="7">User defined</param> + </entry> + <!-- END of user range (31000 to 31999) --> </enum> <enum name="MAV_DATA_STREAM"> - <description>Data stream IDs. A data stream is not a fixed set of messages, but rather a + <description>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.</description> <entry value="0" name="MAV_DATA_STREAM_ALL"> @@ -1371,6 +1702,9 @@ <entry value="3" name="SERIAL_CONTROL_DEV_GPS2"> <description>Second GPS port</description> </entry> + <entry value="10" name="SERIAL_CONTROL_DEV_SHELL"> + <description>system shell</description> + </entry> </enum> <enum name="SERIAL_CONTROL_FLAG"> <description>SERIAL_CONTROL flags (bitmask)</description> @@ -1393,10 +1727,133 @@ <enum name="MAV_DISTANCE_SENSOR"> <description>Enumeration of distance sensor types</description> <entry value="0" name="MAV_DISTANCE_SENSOR_LASER"> - <description>Laser altimeter, e.g. LightWare SF02/F or PulsedLight units</description> + <description>Laser rangefinder, e.g. LightWare SF02/F or PulsedLight units</description> </entry> <entry value="1" name="MAV_DISTANCE_SENSOR_ULTRASOUND"> - <description>Ultrasound altimeter, e.g. MaxBotix units</description> + <description>Ultrasound rangefinder, e.g. MaxBotix units</description> + </entry> + <entry value="2" name="MAV_DISTANCE_SENSOR_INFRARED"> + <description>Infrared rangefinder, e.g. Sharp units</description> + </entry> + </enum> + <enum name="MAV_SENSOR_ORIENTATION"> + <description>Enumeration of sensor orientation, according to its rotations</description> + <entry value="0" name="MAV_SENSOR_ROTATION_NONE"> + <description>Roll: 0, Pitch: 0, Yaw: 0</description> + </entry> + <entry value="1" name="MAV_SENSOR_ROTATION_YAW_45"> + <description>Roll: 0, Pitch: 0, Yaw: 45</description> + </entry> + <entry value="2" name="MAV_SENSOR_ROTATION_YAW_90"> + <description>Roll: 0, Pitch: 0, Yaw: 90</description> + </entry> + <entry value="3" name="MAV_SENSOR_ROTATION_YAW_135"> + <description>Roll: 0, Pitch: 0, Yaw: 135</description> + </entry> + <entry value="4" name="MAV_SENSOR_ROTATION_YAW_180"> + <description>Roll: 0, Pitch: 0, Yaw: 180</description> + </entry> + <entry value="5" name="MAV_SENSOR_ROTATION_YAW_225"> + <description>Roll: 0, Pitch: 0, Yaw: 225</description> + </entry> + <entry value="6" name="MAV_SENSOR_ROTATION_YAW_270"> + <description>Roll: 0, Pitch: 0, Yaw: 270</description> + </entry> + <entry value="7" name="MAV_SENSOR_ROTATION_YAW_315"> + <description>Roll: 0, Pitch: 0, Yaw: 315</description> + </entry> + <entry value="8" name="MAV_SENSOR_ROTATION_ROLL_180"> + <description>Roll: 180, Pitch: 0, Yaw: 0</description> + </entry> + <entry value="9" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_45"> + <description>Roll: 180, Pitch: 0, Yaw: 45</description> + </entry> + <entry value="10" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_90"> + <description>Roll: 180, Pitch: 0, Yaw: 90</description> + </entry> + <entry value="11" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_135"> + <description>Roll: 180, Pitch: 0, Yaw: 135</description> + </entry> + <entry value="12" name="MAV_SENSOR_ROTATION_PITCH_180"> + <description>Roll: 0, Pitch: 180, Yaw: 0</description> + </entry> + <entry value="13" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_225"> + <description>Roll: 180, Pitch: 0, Yaw: 225</description> + </entry> + <entry value="14" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_270"> + <description>Roll: 180, Pitch: 0, Yaw: 270</description> + </entry> + <entry value="15" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_315"> + <description>Roll: 180, Pitch: 0, Yaw: 315</description> + </entry> + <entry value="16" name="MAV_SENSOR_ROTATION_ROLL_90"> + <description>Roll: 90, Pitch: 0, Yaw: 0</description> + </entry> + <entry value="17" name="MAV_SENSOR_ROTATION_ROLL_90_YAW_45"> + <description>Roll: 90, Pitch: 0, Yaw: 45</description> + </entry> + <entry value="18" name="MAV_SENSOR_ROTATION_ROLL_90_YAW_90"> + <description>Roll: 90, Pitch: 0, Yaw: 90</description> + </entry> + <entry value="19" name="MAV_SENSOR_ROTATION_ROLL_90_YAW_135"> + <description>Roll: 90, Pitch: 0, Yaw: 135</description> + </entry> + <entry value="20" name="MAV_SENSOR_ROTATION_ROLL_270"> + <description>Roll: 270, Pitch: 0, Yaw: 0</description> + </entry> + <entry value="21" name="MAV_SENSOR_ROTATION_ROLL_270_YAW_45"> + <description>Roll: 270, Pitch: 0, Yaw: 45</description> + </entry> + <entry value="22" name="MAV_SENSOR_ROTATION_ROLL_270_YAW_90"> + <description>Roll: 270, Pitch: 0, Yaw: 90</description> + </entry> + <entry value="23" name="MAV_SENSOR_ROTATION_ROLL_270_YAW_135"> + <description>Roll: 270, Pitch: 0, Yaw: 135</description> + </entry> + <entry value="24" name="MAV_SENSOR_ROTATION_PITCH_90"> + <description>Roll: 0, Pitch: 90, Yaw: 0</description> + </entry> + <entry value="25" name="MAV_SENSOR_ROTATION_PITCH_270"> + <description>Roll: 0, Pitch: 270, Yaw: 0</description> + </entry> + <entry value="26" name="MAV_SENSOR_ROTATION_PITCH_180_YAW_90"> + <description>Roll: 0, Pitch: 180, Yaw: 90</description> + </entry> + <entry value="27" name="MAV_SENSOR_ROTATION_PITCH_180_YAW_270"> + <description>Roll: 0, Pitch: 180, Yaw: 270</description> + </entry> + <entry value="28" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_90"> + <description>Roll: 90, Pitch: 90, Yaw: 0</description> + </entry> + <entry value="29" name="MAV_SENSOR_ROTATION_ROLL_180_PITCH_90"> + <description>Roll: 180, Pitch: 90, Yaw: 0</description> + </entry> + <entry value="30" name="MAV_SENSOR_ROTATION_ROLL_270_PITCH_90"> + <description>Roll: 270, Pitch: 90, Yaw: 0</description> + </entry> + <entry value="31" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_180"> + <description>Roll: 90, Pitch: 180, Yaw: 0</description> + </entry> + <entry value="32" name="MAV_SENSOR_ROTATION_ROLL_270_PITCH_180"> + <description>Roll: 270, Pitch: 180, Yaw: 0</description> + </entry> + <entry value="33" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_270"> + <description>Roll: 90, Pitch: 270, Yaw: 0</description> + </entry> + <entry value="34" name="MAV_SENSOR_ROTATION_ROLL_180_PITCH_270"> + <description>Roll: 180, Pitch: 270, Yaw: 0</description> + </entry> + <entry value="35" name="MAV_SENSOR_ROTATION_ROLL_270_PITCH_270"> + <description>Roll: 270, Pitch: 270, Yaw: 0</description> + </entry> + <entry value="36" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90"> + <description>Roll: 90, Pitch: 180, Yaw: 90</description> + </entry> + <entry value="37" name="MAV_SENSOR_ROTATION_ROLL_90_YAW_270"> + <description>Roll: 90, Pitch: 0, Yaw: 270</description> + </entry> + <entry value="38" name="MAV_SENSOR_ROTATION_ROLL_315_PITCH_315_YAW_315"> + <description>Roll: 315, Pitch: 315, Yaw: 315</description> </entry> </enum> <enum name="MAV_PROTOCOL_CAPABILITY"> @@ -1417,7 +1874,7 @@ <description>Autopilot supports the new param union message type.</description> </entry> <entry value="32" name="MAV_PROTOCOL_CAPABILITY_FTP"> - <description>Autopilot supports the new param union message type.</description> + <description>Autopilot supports the new FILE_TRANSFER_PROTOCOL message type.</description> </entry> <entry value="64" name="MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET"> <description>Autopilot supports commanding attitude offboard.</description> @@ -1434,6 +1891,12 @@ <entry value="1024" name="MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET"> <description>Autopilot supports direct actuator control.</description> </entry> + <entry value="2048" name="MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION"> + <description>Autopilot supports the flight termination command.</description> + </entry> + <entry value="4096" name="MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION"> + <description>Autopilot supports onboard compass calibration.</description> + </entry> </enum> <enum name="MAV_ESTIMATOR_TYPE"> <description>Enumeration of estimator types</description> @@ -1459,10 +1922,10 @@ <description>Not specified.</description> </entry> <entry value="1" name="MAV_BATTERY_TYPE_LIPO"> - <description>Lithium polymere battery</description> + <description>Lithium polymer battery</description> </entry> <entry value="2" name="MAV_BATTERY_TYPE_LIFE"> - <description>Lithium ferrite battery</description> + <description>Lithium-iron-phosphate battery</description> </entry> <entry value="3" name="MAV_BATTERY_TYPE_LION"> <description>Lithium-ION battery</description> @@ -1474,7 +1937,7 @@ <enum name="MAV_BATTERY_FUNCTION"> <description>Enumeration of battery functions</description> <entry value="0" name="MAV_BATTERY_FUNCTION_UNKNOWN"> - <description>Lithium polymere battery</description> + <description>Battery function is unknown</description> </entry> <entry value="1" name="MAV_BATTERY_FUNCTION_ALL"> <description>Battery supports all flight systems</description> @@ -1489,6 +1952,78 @@ <description>Payload battery</description> </entry> </enum> + <enum name="MAV_VTOL_STATE"> + <description>Enumeration of VTOL states</description> + <entry value="0" name="MAV_VTOL_STATE_UNDEFINED"> + <description>MAV is not configured as VTOL</description> + </entry> + <entry value="1" name="MAV_VTOL_STATE_TRANSITION_TO_FW"> + <description>VTOL is in transition from multicopter to fixed-wing</description> + </entry> + <entry value="2" name="MAV_VTOL_STATE_TRANSITION_TO_MC"> + <description>VTOL is in transition from fixed-wing to multicopter</description> + </entry> + <entry value="3" name="MAV_VTOL_STATE_MC"> + <description>VTOL is in multicopter state</description> + </entry> + <entry value="4" name="MAV_VTOL_STATE_FW"> + <description>VTOL is in fixed-wing state</description> + </entry> + </enum> + <enum name="MAV_LANDED_STATE"> + <description>Enumeration of landed detector states</description> + <entry value="0" name="MAV_LANDED_STATE_UNDEFINED"> + <description>MAV landed state is unknown</description> + </entry> + <entry value="1" name="MAV_LANDED_STATE_ON_GROUND"> + <description>MAV is landed (on ground)</description> + </entry> + <entry value="2" name="MAV_LANDED_STATE_IN_AIR"> + <description>MAV is in air</description> + </entry> + </enum> + <enum name="ADSB_ALTITUDE_TYPE"> + <description>Enumeration of the ADSB altimeter types</description> + <entry value="0" name="ADSB_ALTITUDE_TYPE_PRESSURE_QNH"> + <description>Altitude reported from a Baro source using QNH reference</description> + </entry> + <entry value="1" name="ADSB_ALTITUDE_TYPE_GEOMETRIC"> + <description>Altitude reported from a GNSS source</description> + </entry> + </enum> + <enum name="ADSB_EMITTER_TYPE"> + <description>ADSB classification for the type of vehicle emitting the transponder signal</description> + <entry value="0" name="ADSB_EMITTER_TYPE_NO_INFO"></entry> + <entry value="1" name="ADSB_EMITTER_TYPE_LIGHT"></entry> + <entry value="2" name="ADSB_EMITTER_TYPE_SMALL"></entry> + <entry value="3" name="ADSB_EMITTER_TYPE_LARGE"></entry> + <entry value="4" name="ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE"></entry> + <entry value="5" name="ADSB_EMITTER_TYPE_HEAVY"></entry> + <entry value="6" name="ADSB_EMITTER_TYPE_HIGHLY_MANUV"></entry> + <entry value="7" name="ADSB_EMITTER_TYPE_ROTOCRAFT"></entry> + <entry value="8" name="ADSB_EMITTER_TYPE_UNASSIGNED"></entry> + <entry value="9" name="ADSB_EMITTER_TYPE_GLIDER"></entry> + <entry value="10" name="ADSB_EMITTER_TYPE_LIGHTER_AIR"></entry> + <entry value="11" name="ADSB_EMITTER_TYPE_PARACHUTE"></entry> + <entry value="12" name="ADSB_EMITTER_TYPE_ULTRA_LIGHT"></entry> + <entry value="13" name="ADSB_EMITTER_TYPE_UNASSIGNED2"></entry> + <entry value="14" name="ADSB_EMITTER_TYPE_UAV"></entry> + <entry value="15" name="ADSB_EMITTER_TYPE_SPACE"></entry> + <entry value="16" name="ADSB_EMITTER_TYPE_UNASSGINED3"></entry> + <entry value="17" name="ADSB_EMITTER_TYPE_EMERGENCY_SURFACE"></entry> + <entry value="18" name="ADSB_EMITTER_TYPE_SERVICE_SURFACE"></entry> + <entry value="19" name="ADSB_EMITTER_TYPE_POINT_OBSTACLE"></entry> + </enum> + <enum name="ADSB_FLAGS"> + <description>These flags indicate status such as data validity of each data source. Set = data valid</description> + <entry value="1" name="ADSB_FLAGS_VALID_COORDS"></entry> + <entry value="2" name="ADSB_FLAGS_VALID_ALTITUDE"></entry> + <entry value="4" name="ADSB_FLAGS_VALID_HEADING"></entry> + <entry value="8" name="ADSB_FLAGS_VALID_VELOCITY"></entry> + <entry value="16" name="ADSB_FLAGS_VALID_CALLSIGN"></entry> + <entry value="32" name="ADSB_FLAGS_VALID_SQUAWK"></entry> + <entry value="64" name="ADSB_FLAGS_SIMULATED"></entry> + </enum> </enums> <messages> <message id="0" name="HEARTBEAT"> @@ -1547,7 +2082,7 @@ <field type="char[32]" name="key">key</field> </message> <message id="11" name="SET_MODE"> - <description>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.</description> + <description>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.</description> <field type="uint8_t" name="target_system">The system setting the mode</field> <field type="uint8_t" name="base_mode" enum="MAV_MODE">The new base mode</field> <field type="uint32_t" name="custom_mode">The new autopilot-specific mode. This field can be ignored by an autopilot.</field> @@ -1589,8 +2124,8 @@ <field type="int32_t" name="lat">Latitude (WGS84), in degrees * 1E7</field> <field type="int32_t" name="lon">Longitude (WGS84), in degrees * 1E7</field> <field type="int32_t" name="alt">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.</field> - <field type="uint16_t" name="eph">GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX</field> - <field type="uint16_t" name="epv">GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX</field> + <field type="uint16_t" name="eph">GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX</field> + <field type="uint16_t" name="epv">GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX</field> <field type="uint16_t" name="vel">GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX</field> <field type="uint16_t" name="cog">Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX</field> <field type="uint8_t" name="satellites_visible">Number of satellites visible. If unknown, set to 255</field> @@ -1634,8 +2169,8 @@ <description>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.</description> <field type="uint64_t" name="time_usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field> <field type="int16_t" name="press_abs">Absolute pressure (raw)</field> - <field type="int16_t" name="press_diff1">Differential pressure 1 (raw)</field> - <field type="int16_t" name="press_diff2">Differential pressure 2 (raw)</field> + <field type="int16_t" name="press_diff1">Differential pressure 1 (raw, 0 if nonexistant)</field> + <field type="int16_t" name="press_diff2">Differential pressure 2 (raw, 0 if nonexistant)</field> <field type="int16_t" name="temperature">Raw Temperature measurement (raw)</field> </message> <message id="29" name="SCALED_PRESSURE"> @@ -1680,14 +2215,14 @@ <description>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.</description> <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field> - <field type="int32_t" name="lat">Latitude, expressed as * 1E7</field> - <field type="int32_t" name="lon">Longitude, expressed as * 1E7</field> + <field type="int32_t" name="lat">Latitude, expressed as degrees * 1E7</field> + <field type="int32_t" name="lon">Longitude, expressed as degrees * 1E7</field> <field type="int32_t" name="alt">Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)</field> <field type="int32_t" name="relative_alt">Altitude above ground in meters, expressed as * 1000 (millimeters)</field> - <field type="int16_t" name="vx">Ground X Speed (Latitude), expressed as m/s * 100</field> - <field type="int16_t" name="vy">Ground Y Speed (Longitude), expressed as m/s * 100</field> - <field type="int16_t" name="vz">Ground Z Speed (Altitude), expressed as m/s * 100</field> - <field type="uint16_t" name="hdg">Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX</field> + <field type="int16_t" name="vx">Ground X Speed (Latitude, positive north), expressed as m/s * 100</field> + <field type="int16_t" name="vy">Ground Y Speed (Longitude, positive east), expressed as m/s * 100</field> + <field type="int16_t" name="vz">Ground Z Speed (Altitude, positive down), expressed as m/s * 100</field> + <field type="uint16_t" name="hdg">Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX</field> </message> <message id="34" name="RC_CHANNELS_SCALED"> <description>The scaled values of the RC channels received. (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to UINT16_MAX.</description> @@ -1887,16 +2422,19 @@ </message> <message id="64" name="LOCAL_POSITION_NED_COV"> <description>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)</description> - <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field> + <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot). 0 for system without monotonic timestamp</field> <field type="uint64_t" name="time_utc">Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.</field> <field type="uint8_t" name="estimator_type" enum="MAV_ESTIMATOR_TYPE">Class id of the estimator this estimate originated from.</field> <field type="float" name="x">X Position</field> <field type="float" name="y">Y Position</field> <field type="float" name="z">Z Position</field> - <field type="float" name="vx">X Speed</field> - <field type="float" name="vy">Y Speed</field> - <field type="float" name="vz">Z Speed</field> - <field type="float[36]" name="covariance">Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)</field> + <field type="float" name="vx">X Speed (m/s)</field> + <field type="float" name="vy">Y Speed (m/s)</field> + <field type="float" name="vz">Z Speed (m/s)</field> + <field type="float" name="ax">X Acceleration (m/s^2)</field> + <field type="float" name="ay">Y Acceleration (m/s^2)</field> + <field type="float" name="az">Z Acceleration (m/s^2)</field> + <field type="float[45]" name="covariance">Covariance matrix upper right triangular (first nine entries are the first ROW, next eight entries are the second row, etc.)</field> </message> <message id="65" name="RC_CHANNELS"> <description>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.</description> @@ -1923,15 +2461,17 @@ <field type="uint8_t" name="rssi">Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.</field> </message> <message id="66" name="REQUEST_DATA_STREAM"> + <description>THIS INTERFACE IS DEPRECATED. USE SET_MESSAGE_INTERVAL INSTEAD.</description> <field type="uint8_t" name="target_system">The target requested to send the message stream.</field> <field type="uint8_t" name="target_component">The target requested to send the message stream.</field> <field type="uint8_t" name="req_stream_id">The ID of the requested data stream</field> - <field type="uint16_t" name="req_message_rate">The requested interval between two messages of this type</field> + <field type="uint16_t" name="req_message_rate">The requested message rate</field> <field type="uint8_t" name="start_stop">1 to start sending, 0 to stop sending.</field> </message> <message id="67" name="DATA_STREAM"> + <description>THIS INTERFACE IS DEPRECATED. USE MESSAGE_INTERVAL INSTEAD.</description> <field type="uint8_t" name="stream_id">The ID of the requested data stream</field> - <field type="uint16_t" name="message_rate">The requested interval between two messages of this type</field> + <field type="uint16_t" name="message_rate">The message rate</field> <field type="uint8_t" name="on_off">1 stream is enabled, 0 stream is stopped.</field> </message> <message id="69" name="MANUAL_CONTROL"> @@ -1939,7 +2479,7 @@ <field type="uint8_t" name="target">The system to be controlled.</field> <field type="int16_t" name="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.</field> <field type="int16_t" name="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.</field> - <field type="int16_t" name="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.</field> + <field type="int16_t" name="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. Positive values are positive thrust, negative values are negative thrust.</field> <field type="int16_t" name="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.</field> <field type="uint16_t" name="buttons">A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.</field> </message> @@ -2029,7 +2569,7 @@ <field type="uint8_t" name="manual_override_switch">Override mode switch position, 0.. 255</field> </message> <message id="82" name="SET_ATTITUDE_TARGET"> - <description>Set the vehicle attitude and body angular rates.</description> + <description>Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system).</description> <field type="uint32_t" name="time_boot_ms">Timestamp in milliseconds since system boot</field> <field type="uint8_t" name="target_system">System ID</field> <field type="uint8_t" name="target_component">Component ID</field> @@ -2041,7 +2581,7 @@ <field type="float" name="thrust">Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)</field> </message> <message id="83" name="ATTITUDE_TARGET"> - <description>Set the vehicle attitude and body angular rates.</description> + <description>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.</description> <field type="uint32_t" name="time_boot_ms">Timestamp in milliseconds since system boot</field> <field type="uint8_t" name="type_mask">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</field> <field type="float[4]" name="q">Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field> @@ -2051,7 +2591,7 @@ <field type="float" name="thrust">Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)</field> </message> <message id="84" name="SET_POSITION_TARGET_LOCAL_NED"> - <description>Set vehicle position, velocity and acceleration setpoint in local frame.</description> + <description>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).</description> <field type="uint32_t" name="time_boot_ms">Timestamp in milliseconds since system boot</field> <field type="uint8_t" name="target_system">System ID</field> <field type="uint8_t" name="target_component">Component ID</field> @@ -2070,7 +2610,7 @@ <field type="float" name="yaw_rate">yaw rate setpoint in rad/s</field> </message> <message id="85" name="POSITION_TARGET_LOCAL_NED"> - <description>Set vehicle position, velocity and acceleration setpoint in local frame.</description> + <description>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.</description> <field type="uint32_t" name="time_boot_ms">Timestamp in milliseconds since system boot</field> <field type="uint8_t" name="coordinate_frame" enum="MAV_FRAME">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</field> <field type="uint16_t" name="type_mask">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</field> @@ -2087,7 +2627,7 @@ <field type="float" name="yaw_rate">yaw rate setpoint in rad/s</field> </message> <message id="86" name="SET_POSITION_TARGET_GLOBAL_INT"> - <description>Set vehicle position, velocity and acceleration setpoint in the WGS84 coordinate system.</description> + <description>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).</description> <field type="uint32_t" name="time_boot_ms">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.</field> <field type="uint8_t" name="target_system">System ID</field> <field type="uint8_t" name="target_component">Component ID</field> @@ -2106,7 +2646,7 @@ <field type="float" name="yaw_rate">yaw rate setpoint in rad/s</field> </message> <message id="87" name="POSITION_TARGET_GLOBAL_INT"> - <description>Set vehicle position, velocity and acceleration setpoint in the WGS84 coordinate system.</description> + <description>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.</description> <field type="uint32_t" name="time_boot_ms">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.</field> <field type="uint8_t" name="coordinate_frame" enum="MAV_FRAME">Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11</field> <field type="uint16_t" name="type_mask">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</field> @@ -2275,7 +2815,7 @@ <field type="float" name="diff_pressure">Differential pressure (airspeed) in millibar</field> <field type="float" name="pressure_alt">Altitude calculated from pressure</field> <field type="float" name="temperature">Temperature in degrees celsius</field> - <field type="uint32_t" name="fields_updated">Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature</field> + <field type="uint32_t" name="fields_updated">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.</field> </message> <message name="SIM_STATE" id="108"> @@ -2325,6 +2865,11 @@ <field type="int64_t" name="tc1">Time sync timestamp 1</field> <field type="int64_t" name="ts1">Time sync timestamp 2</field> </message> + <message id="112" name="CAMERA_TRIGGER"> + <description>Camera-IMU triggering and synchronisation message.</description> + <field type="uint64_t" name="time_usec">Timestamp for the image frame in microseconds</field> + <field type="uint32_t" name="seq">Image frame sequence</field> + </message> <message id="113" name="HIL_GPS"> <description>The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the sytem, 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).</description> @@ -2531,7 +3076,7 @@ <field type="uint16_t" name="current_distance">Current distance reading</field> <field type="uint8_t" name="type">Type from MAV_DISTANCE_SENSOR enum.</field> <field type="uint8_t" name="id">Onboard ID of the sensor</field> - <field type="uint8_t" name="orientation">Direction the sensor faces from FIXME enum.</field> + <field type="uint8_t" name="orientation">Direction the sensor faces from MAV_SENSOR_ORIENTATION enum.</field> <field type="uint8_t" name="covariance">Measurement covariance in centimeters, 0 for unknown / invalid readings</field> </message> <message id="133" name="TERRAIN_REQUEST"> @@ -2593,13 +3138,72 @@ <field type="uint8_t" name="group_mlx">Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.</field> <field type="float[8]" name="controls">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.</field> </message> + <message id="141" name="ALTITUDE"> + <description>The current system altitude.</description> + <field type="uint64_t" name="time_usec">Timestamp (milliseconds since system boot)</field> + <field type="float" name="altitude_monotonic">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.</field> + <field type="float" name="altitude_amsl">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.</field> + <field type="float" name="altitude_local">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.</field> + <field type="float" name="altitude_relative">This is the altitude above the home position. It resets on each change of the current home position.</field> + <field type="float" name="altitude_terrain">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.</field> + <field type="float" name="bottom_clearance">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.</field> + </message> + <message id="142" name="RESOURCE_REQUEST"> + <description>The autopilot is requesting a resource (file, binary, other type of data)</description> + <field type="uint8_t" name="request_id">Request ID. This ID should be re-used when sending back URI contents</field> + <field type="uint8_t" name="uri_type">The type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary</field> + <field type="uint8_t[120]" name="uri">The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum)</field> + <field type="uint8_t" name="transfer_type">The way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.</field> + <field type="uint8_t[120]" name="storage">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).</field> + </message> + <message id="143" name="SCALED_PRESSURE3"> + <description>Barometer readings for 3rd barometer</description> + <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field> + <field type="float" name="press_abs">Absolute pressure (hectopascal)</field> + <field type="float" name="press_diff">Differential pressure 1 (hectopascal)</field> + <field type="int16_t" name="temperature">Temperature measurement (0.01 degrees celsius)</field> + </message> + <message id="144" name="FOLLOW_TARGET"> + <description>current motion information from a designated system</description> + <field type="uint64_t" name="timestamp">Timestamp in milliseconds since system boot</field> + <field type="uint8_t" name="est_capabilities">bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)</field> + <field type="int32_t" name="lat">Latitude (WGS84), in degrees * 1E7</field> + <field type="int32_t" name="lon">Longitude (WGS84), in degrees * 1E7</field> + <field type="float" name="alt">AMSL, in meters</field> + <field type="float[3]" name="vel">target velocity (0,0,0) for unknown</field> + <field type="float[3]" name="acc">linear target acceleration (0,0,0) for unknown</field> + <field type="float[4]" name="attitude_q">(1 0 0 0 for unknown)</field> + <field type="float[3]" name="rates">(0 0 0 for unknown)</field> + <field type="float[3]" name="position_cov">eph epv</field> + <field type="uint64_t" name="custom_state">button states or switches of a tracker device</field> + </message> + <message id="146" name="CONTROL_SYSTEM_STATE"> + <description>The smoothed, monotonic system state used to feed the control loops of the system.</description> + <field type="uint64_t" name="time_usec">Timestamp (micros since boot or Unix epoch)</field> + <field type="float" name="x_acc">X acceleration in body frame</field> + <field type="float" name="y_acc">Y acceleration in body frame</field> + <field type="float" name="z_acc">Z acceleration in body frame</field> + <field type="float" name="x_vel">X velocity in body frame</field> + <field type="float" name="y_vel">Y velocity in body frame</field> + <field type="float" name="z_vel">Z velocity in body frame</field> + <field type="float" name="x_pos">X position in local frame</field> + <field type="float" name="y_pos">Y position in local frame</field> + <field type="float" name="z_pos">Z position in local frame</field> + <field type="float" name="airspeed">Airspeed, set to -1 if unknown</field> + <field type="float[3]" name="vel_variance">Variance of body velocity estimate</field> + <field type="float[3]" name="pos_variance">Variance in local position</field> + <field type="float[4]" name="q">The attitude, represented as Quaternion</field> + <field type="float" name="roll_rate">Angular rate in roll axis</field> + <field type="float" name="pitch_rate">Angular rate in pitch axis</field> + <field type="float" name="yaw_rate">Angular rate in yaw axis</field> + </message> <message id="147" name="BATTERY_STATUS"> <description>Battery information</description> <field type="uint8_t" name="id">Battery ID</field> <field type="uint8_t" name="battery_function" enum="MAV_BATTERY_FUNCTION">Function of the battery</field> <field type="uint8_t" name="type" enum="MAV_BATTERY_TYPE">Type (chemistry) of the battery</field> <field type="int16_t" name="temperature">Temperature of the battery in centi-degrees celsius. INT16_MAX for unknown temperature.</field> - <field type="uint16_t[10]" name="voltages">Battery voltage of cells, in millivolts (1 = 1 millivolt)</field> + <field type="uint16_t[10]" name="voltages">Battery voltage of cells, in millivolts (1 = 1 millivolt). Cells above the valid cell count for this battery should have the UINT16_MAX value.</field> <field type="int16_t" name="current_battery">Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current</field> <field type="int32_t" name="current_consumed">Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate</field> <field type="int32_t" name="energy_consumed">Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate</field> @@ -2619,7 +3223,81 @@ <field type="uint16_t" name="product_id">ID of the product</field> <field type="uint64_t" name="uid">UID if provided by hardware</field> </message> + <message id="149" name="LANDING_TARGET"> + <description>The location of a landing area captured from a downward facing camera</description> + <field type="uint64_t" name="time_usec">Timestamp (micros since boot or Unix epoch)</field> + <field type="uint8_t" name="target_num">The ID of the target if multiple targets are present</field> + <field type="uint8_t" name="frame">MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.</field> + <field type="float" name="angle_x">X-axis angular offset (in radians) of the target from the center of the image</field> + <field type="float" name="angle_y">Y-axis angular offset (in radians) of the target from the center of the image</field> + <field type="float" name="distance">Distance to the target from the vehicle in meters</field> + <field type="float" name="size_x">Size in radians of target along x-axis</field> + <field type="float" name="size_y">Size in radians of target along y-axis</field> + </message> <!-- MESSAGE IDs 180 - 240: Space for custom messages in individual projectname_messages.xml files --> + <message id="241" name="VIBRATION"> + <description>Vibration levels and accelerometer clipping</description> + <field type="uint64_t" name="time_usec">Timestamp (micros since boot or Unix epoch)</field> + <field type="float" name="vibration_x">Vibration levels on X-axis</field> + <field type="float" name="vibration_y">Vibration levels on Y-axis</field> + <field type="float" name="vibration_z">Vibration levels on Z-axis</field> + <field type="uint32_t" name="clipping_0">first accelerometer clipping count</field> + <field type="uint32_t" name="clipping_1">second accelerometer clipping count</field> + <field type="uint32_t" name="clipping_2">third accelerometer clipping count</field> + </message> + <message id="242" name="HOME_POSITION"> + <description>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.</description> + <field type="int32_t" name="latitude">Latitude (WGS84), in degrees * 1E7</field> + <field type="int32_t" name="longitude">Longitude (WGS84, in degrees * 1E7</field> + <field type="int32_t" name="altitude">Altitude (AMSL), in meters * 1000 (positive for up)</field> + <field type="float" name="x">Local X position of this position in the local coordinate frame</field> + <field type="float" name="y">Local Y position of this position in the local coordinate frame</field> + <field type="float" name="z">Local Z position of this position in the local coordinate frame</field> + <field type="float[4]" name="q">World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground</field> + <field type="float" name="approach_x">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.</field> + <field type="float" name="approach_y">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.</field> + <field type="float" name="approach_z">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.</field> + </message> + <message id="243" name="SET_HOME_POSITION"> + <description>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.</description> + <field type="uint8_t" name="target_system">System ID.</field> + <field type="int32_t" name="latitude">Latitude (WGS84), in degrees * 1E7</field> + <field type="int32_t" name="longitude">Longitude (WGS84, in degrees * 1E7</field> + <field type="int32_t" name="altitude">Altitude (AMSL), in meters * 1000 (positive for up)</field> + <field type="float" name="x">Local X position of this position in the local coordinate frame</field> + <field type="float" name="y">Local Y position of this position in the local coordinate frame</field> + <field type="float" name="z">Local Z position of this position in the local coordinate frame</field> + <field type="float[4]" name="q">World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground</field> + <field type="float" name="approach_x">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.</field> + <field type="float" name="approach_y">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.</field> + <field type="float" name="approach_z">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.</field> + </message> + <message id="244" name="MESSAGE_INTERVAL"> + <description>This interface replaces DATA_STREAM</description> + <field type="uint16_t" name="message_id">The ID of the requested MAVLink message. v1.0 is limited to 254 messages.</field> + <field type="int32_t" name="interval_us">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.</field> + </message> + <message id="245" name="EXTENDED_SYS_STATE"> + <description>Provides state for additional features</description> + <field type="uint8_t" name="vtol_state" enum="MAV_VTOL_STATE">The VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration.</field> + <field type="uint8_t" name="landed_state" enum="MAV_LANDED_STATE">The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.</field> + </message> + <message id="246" name="ADSB_VEHICLE"> + <description>The location and information of an ADSB vehicle</description> + <field type="uint32_t" name="ICAO_address">ICAO address</field> + <field type="int32_t" name="lat">Latitude, expressed as degrees * 1E7</field> + <field type="int32_t" name="lon">Longitude, expressed as degrees * 1E7</field> + <field type="uint8_t" name="altitude_type" enum="ADSB_ALTITUDE_TYPE">Type from ADSB_ALTITUDE_TYPE enum</field> + <field type="int32_t" name="altitude">Altitude(ASL) in millimeters</field> + <field type="uint16_t" name="heading">Course over ground in centidegrees</field> + <field type="uint16_t" name="hor_velocity">The horizontal velocity in centimeters/second</field> + <field type="int16_t" name="ver_velocity">The vertical velocity in centimeters/second, positive is up</field> + <field type="char[9]" name="callsign">The callsign, 8+null</field> + <field type="uint8_t" name="emitter_type" enum="ADSB_EMITTER_TYPE">Type from ADSB_EMITTER_TYPE enum</field> + <field type="uint8_t" name="tslc">Time since last communication in seconds</field> + <field type="uint16_t" name="flags" enum="ADSB_FLAGS">Flags to indicate various statuses including valid data fields</field> + <field type="uint16_t" name="squawk">Squawk code</field> + </message> <message id="248" name="V2_EXTENSION"> <description>Message implementing parts of the V2 payload specs in V1 frames for transitional support.</description> <field type="uint8_t" name="target_network">Network ID (0 for broadcast)</field> |