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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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msg: introduce message versioning
This commit is contained in:
GuillaumeLaine
committed by
Beat Küng
Beat Küng
parent
f9140fcd50
commit
4fe7d713d3
@@ -0,0 +1,15 @@
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# Motor control message
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
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uint16 reversible_flags # bitset which motors are configured to be reversible
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uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
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uint8 NUM_CONTROLS = 12
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float32[12] control # range: [-1, 1], where 1 means maximum positive thrust,
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# -1 maximum negative (if not supported by the output, <0 maps to NaN),
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# and NaN maps to disarmed (stop the motors)
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@@ -0,0 +1,11 @@
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# Servo control message
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
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uint8 NUM_CONTROLS = 8
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float32[8] control # range: [-1, 1], where 1 means maximum positive position,
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# -1 maximum negative,
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# and NaN maps to disarmed
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@@ -0,0 +1,35 @@
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint8 request_id
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uint8 registration_id
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uint8 HEALTH_COMPONENT_INDEX_NONE = 0
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uint8 HEALTH_COMPONENT_INDEX_AVOIDANCE = 19
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uint8 health_component_index # HEALTH_COMPONENT_INDEX_*
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bool health_component_is_present
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bool health_component_warning
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bool health_component_error
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bool can_arm_and_run # whether arming is possible, and if it's a navigation mode, if it can run
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uint8 num_events
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Event[5] events
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# Mode requirements
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bool mode_req_angular_velocity
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bool mode_req_attitude
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bool mode_req_local_alt
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bool mode_req_local_position
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bool mode_req_local_position_relaxed
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bool mode_req_global_position
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bool mode_req_mission
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bool mode_req_home_position
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bool mode_req_prevent_arming
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bool mode_req_manual_control
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uint8 ORB_QUEUE_LENGTH = 4
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@@ -0,0 +1,7 @@
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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# broadcast message to request all registered arming checks to be reported
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uint8 request_id
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@@ -0,0 +1,74 @@
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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bool connected # Whether or not a battery is connected, based on a voltage threshold
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float32 voltage_v # Battery voltage in volts, 0 if unknown
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float32 current_a # Battery current in amperes, -1 if unknown
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float32 current_average_a # Battery current average in amperes (for FW average in level flight), -1 if unknown
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float32 discharged_mah # Discharged amount in mAh, -1 if unknown
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float32 remaining # From 1 to 0, -1 if unknown
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float32 scale # Power scaling factor, >= 1, or -1 if unknown
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float32 time_remaining_s # predicted time in seconds remaining until battery is empty under previous averaged load, NAN if unknown
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float32 temperature # Temperature of the battery in degrees Celcius, NaN if unknown
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uint8 cell_count # Number of cells, 0 if unknown
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uint8 BATTERY_SOURCE_POWER_MODULE = 0
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uint8 BATTERY_SOURCE_EXTERNAL = 1
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uint8 BATTERY_SOURCE_ESCS = 2
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uint8 source # Battery source
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uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
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uint16 capacity # actual capacity of the battery
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uint16 cycle_count # number of discharge cycles the battery has experienced
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uint16 average_time_to_empty # predicted remaining battery capacity based on the average rate of discharge in min
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uint16 serial_number # serial number of the battery pack
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uint16 manufacture_date # manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
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uint16 state_of_health # state of health. FullChargeCapacity/DesignCapacity, 0-100%.
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uint16 max_error # max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
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uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
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uint16 interface_error # interface error counter
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float32[14] voltage_cell_v # Battery individual cell voltages, 0 if unknown
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float32 max_cell_voltage_delta # Max difference between individual cell voltages
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bool is_powering_off # Power off event imminent indication, false if unknown
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bool is_required # Set if the battery is explicitly required before arming
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uint8 BATTERY_WARNING_NONE = 0 # no battery low voltage warning active
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uint8 BATTERY_WARNING_LOW = 1 # warning of low voltage
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uint8 BATTERY_WARNING_CRITICAL = 2 # critical voltage, return / abort immediately
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uint8 BATTERY_WARNING_EMERGENCY = 3 # immediate landing required
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uint8 BATTERY_WARNING_FAILED = 4 # the battery has failed completely
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uint8 BATTERY_STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
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uint8 BATTERY_STATE_CHARGING = 7 # Battery is charging
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uint8 BATTERY_FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
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uint8 BATTERY_FAULT_SPIKES = 1 # Voltage spikes
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uint8 BATTERY_FAULT_CELL_FAIL= 2 # One or more cells have failed
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uint8 BATTERY_FAULT_OVER_CURRENT = 3 # Over-current
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uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4 # Over-temperature
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uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
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uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
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uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
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uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
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uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 # hardware problem
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uint8 BATTERY_FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
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uint8 BATTERY_FAULT_COUNT = 11 # Counter - keep it as last element!
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uint16 faults # Smart battery supply status/fault flags (bitmask) for health indication.
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uint8 warning # Current battery warning
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uint8 MAX_INSTANCES = 4
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float32 full_charge_capacity_wh # The compensated battery capacity
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float32 remaining_capacity_wh # The compensated battery capacity remaining
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uint16 over_discharge_count # Number of battery overdischarge
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float32 nominal_voltage # Nominal voltage of the battery pack
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float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
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float32 ocv_estimate # [V] Open circuit voltage estimate
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float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
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float32 volt_based_soc_estimate # [0, 1] Normalized volt based state of charge estimate
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float32 voltage_prediction # [V] Predicted voltage
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float32 prediction_error # [V] Prediction error
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float32 estimation_covariance_norm # Norm of the covariance matrix
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@@ -0,0 +1,21 @@
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# Configurable overrides by (external) modes or mode executors
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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bool disable_auto_disarm # Prevent the drone from automatically disarming after landing (if configured)
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bool defer_failsafes # Defer all failsafes that can be deferred (until the flag is cleared)
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int16 defer_failsafes_timeout_s # Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout
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int8 SOURCE_TYPE_MODE = 0
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int8 SOURCE_TYPE_MODE_EXECUTOR = 1
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int8 source_type
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uint8 source_id # ID depending on source_type
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uint8 ORB_QUEUE_LENGTH = 4
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# TOPICS config_overrides config_overrides_request
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@@ -0,0 +1,26 @@
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# Position and (optional) heading setpoints with corresponding speed constraints
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# Setpoints are intended as inputs to position and heading smoothers, respectively
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# Setpoints do not need to be kinematically consistent
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# Optional heading setpoints may be specified as controlled by the respective flag
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# Unset optional setpoints are not controlled
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# Unset optional constraints default to vehicle specifications
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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# setpoints
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float32[3] position # [m] NED local world frame
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bool flag_control_heading # true if heading is to be controlled
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float32 heading # (optional) [rad] [-pi,pi] from North
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# constraints
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bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit
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float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane
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bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit
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float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis
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bool flag_set_max_heading_rate # true if setting a non-default heading rate limit
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float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute)
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@@ -0,0 +1,23 @@
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# GPS home position in WGS84 coordinates.
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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float64 lat # Latitude in degrees
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float64 lon # Longitude in degrees
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float32 alt # Altitude in meters (AMSL)
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float32 x # X coordinate in meters
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float32 y # Y coordinate in meters
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float32 z # Z coordinate in meters
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float32 yaw # Yaw angle in radians
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bool valid_alt # true when the altitude has been set
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bool valid_hpos # true when the latitude and longitude have been set
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bool valid_lpos # true when the local position (xyz) has been set
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bool manual_home # true when home position was set manually
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uint32 update_count # update counter of the home position
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@@ -0,0 +1,48 @@
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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bool valid
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uint8 SOURCE_UNKNOWN = 0
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uint8 SOURCE_RC = 1 # radio control (input_rc)
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uint8 SOURCE_MAVLINK_0 = 2 # mavlink instance 0
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uint8 SOURCE_MAVLINK_1 = 3 # mavlink instance 1
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uint8 SOURCE_MAVLINK_2 = 4 # mavlink instance 2
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uint8 SOURCE_MAVLINK_3 = 5 # mavlink instance 3
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uint8 SOURCE_MAVLINK_4 = 6 # mavlink instance 4
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uint8 SOURCE_MAVLINK_5 = 7 # mavlink instance 5
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uint8 data_source
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# Any of the channels may not be available and be set to NaN
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# to indicate that it does not contain valid data.
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# Stick positions [-1,1]
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# on a common RC mode 1/2/3/4 remote/joystick the stick deflection: -1 is down/left, 1 is up/right
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# Note: QGC sends throttle/z in range [0,1000] - [0,1]. The MAVLink input conversion [0,1] to [-1,1] is at the moment kept backwards compatible.
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# Positive values are generally used for:
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float32 roll # move right, positive roll rotation, right side down
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float32 pitch # move forward, negative pitch rotation, nose down
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float32 yaw # positive yaw rotation, clockwise when seen top down
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float32 throttle # move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust
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float32 flaps # position of flaps switch/knob/lever [-1, 1]
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float32 aux1
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float32 aux2
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float32 aux3
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float32 aux4
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float32 aux5
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float32 aux6
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bool sticks_moving
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uint16 buttons # From uint16 buttons field of Mavlink manual_control message
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# TOPICS manual_control_setpoint manual_control_input
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# DEPRECATED: float32 x
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# DEPRECATED: float32 y
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# DEPRECATED: float32 z
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# DEPRECATED: float32 r
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@@ -0,0 +1,17 @@
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# Mode completion result, published by an active mode.
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# The possible values of nav_state are defined in the VehicleStatus msg.
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# Note that this is not always published (e.g. when a user switches modes or on
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# failsafe activation)
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint8 RESULT_SUCCESS = 0
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# [1-99]: reserved
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uint8 RESULT_FAILURE_OTHER = 100 # Mode failed (generic error)
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uint8 result # One of RESULT_*
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uint8 nav_state # Source mode (values in VehicleStatus)
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@@ -0,0 +1,15 @@
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 request_id # ID from the request
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char[25] name # name from the request
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uint16 px4_ros2_api_version
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bool success
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int8 arming_check_id # arming check registration ID (-1 if invalid)
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int8 mode_id # assigned mode ID (-1 if invalid)
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int8 mode_executor_id # assigned mode executor ID (-1 if invalid)
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uint8 ORB_QUEUE_LENGTH = 2
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@@ -0,0 +1,24 @@
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# Request to register an external component
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 request_id # ID, set this to a random value
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char[25] name # either the requested mode name, or component name
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uint16 LATEST_PX4_ROS2_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change.
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uint16 px4_ros2_api_version # Set to LATEST_PX4_ROS2_API_VERSION
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# Components to be registered
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bool register_arming_check
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bool register_mode # registering a mode also requires arming_check to be set
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bool register_mode_executor # registering an executor also requires a mode to be registered (which is the owned mode by the executor)
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bool enable_replace_internal_mode # set to true if an internal mode should be replaced
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uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_*
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bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor)
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uint8 ORB_QUEUE_LENGTH = 2
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@@ -0,0 +1,17 @@
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# Trajectory setpoint in NED frame
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# Input to PID position controller.
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# Needs to be kinematically consistent and feasible for smooth flight.
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# setting a value to NaN means the state should not be controlled
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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# NED local world frame
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float32[3] position # in meters
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float32[3] velocity # in meters/second
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float32[3] acceleration # in meters/second^2
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float32[3] jerk # in meters/second^3 (for logging only)
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float32 yaw # euler angle of desired attitude in radians -PI..+PI
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float32 yawspeed # angular velocity around NED frame z-axis in radians/second
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@@ -0,0 +1,9 @@
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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char[25] name # either the mode name, or component name
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int8 arming_check_id # arming check registration ID (-1 if not registered)
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int8 mode_id # assigned mode ID (-1 if not registered)
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int8 mode_executor_id # assigned mode executor ID (-1 if not registered)
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@@ -0,0 +1,10 @@
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
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float32[3] xyz # Bias corrected angular velocity about the FRD body frame XYZ-axis in rad/s
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float32[3] xyz_derivative # angular acceleration about the FRD body frame XYZ-axis in rad/s^2
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# TOPICS vehicle_angular_velocity vehicle_angular_velocity_groundtruth
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@@ -0,0 +1,15 @@
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# This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
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# The quaternion uses the Hamilton convention, and the order is q(w, x, y, z)
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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float32[4] q # Quaternion rotation from the FRD body frame to the NED earth frame
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float32[4] delta_q_reset # Amount by which quaternion has changed during last reset
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uint8 quat_reset_counter # Quaternion reset counter
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# TOPICS vehicle_attitude vehicle_attitude_groundtruth external_ins_attitude
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# TOPICS estimator_attitude
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@@ -0,0 +1,18 @@
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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float32 yaw_sp_move_rate # rad/s (commanded by user)
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# For quaternion-based attitude control
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float32[4] q_d # Desired quaternion for quaternion control
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# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
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# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
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float32[3] thrust_body # Normalized thrust command in body FRD frame [-1,1]
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bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)
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bool fw_control_yaw_wheel # control heading with steering wheel (used for auto takeoff on runway)
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# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
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@@ -0,0 +1,199 @@
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# Vehicle Command uORB message. Used for commanding a mission / action / etc.
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# Follows the MAVLink COMMAND_INT / COMMAND_LONG definition
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint16 VEHICLE_CMD_CUSTOM_0 = 0 # test command
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uint16 VEHICLE_CMD_CUSTOM_1 = 1 # test command
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uint16 VEHICLE_CMD_CUSTOM_2 = 2 # test command
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uint16 VEHICLE_CMD_NAV_WAYPOINT = 16 # Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|
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uint16 VEHICLE_CMD_NAV_LOITER_UNLIM = 17 # Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|
|
||||
uint16 VEHICLE_CMD_NAV_LOITER_TURNS = 18 # Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|
|
||||
uint16 VEHICLE_CMD_NAV_LOITER_TIME = 19 # Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|
|
||||
uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_NAV_LAND = 21 # Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|
|
||||
uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|
|
||||
uint16 VEHICLE_CMD_NAV_PRECLAND = 23 # Attempt a precision landing
|
||||
uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circle defined by the parameters. |Radius [m] |Velocity [m/s] |Yaw behaviour |Empty |Latitude/X |Longitude/Y |Altitude/Z |
|
||||
uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |Major Radius [m] |Minor Radius [m] |Velocity [m/s] |Orientation |Latitude/X |Longitude/Y |Altitude/Z |
|
||||
uint16 VEHICLE_CMD_NAV_ROI = 80 # 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. |Region of interest mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
|
||||
uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|
|
||||
uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|
|
||||
uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85 # Transition to MC and land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|
|
||||
uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90 # set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91 # set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_NAV_DELAY = 93 # Delay the next navigation command a number of seconds or until a specified time |Delay in seconds (decimal, -1 to enable time-of-day fields)| hour (24h format, UTC, -1 to ignore)| minute (24h format, UTC, -1 to ignore)| second (24h format, UTC)| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_NAV_LAST = 95 # NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_CONDITION_DELAY = 112 # Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_CONDITION_CHANGE_ALT = 113 # Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|
|
||||
uint16 VEHICLE_CMD_CONDITION_DISTANCE = 114 # Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_CONDITION_YAW = 115 # Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_CONDITION_LAST = 159 # NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_CONDITION_GATE = 4501 # Wait until passing a threshold |2D coord mode: 0: Orthogonal to planned route | Altitude mode: 0: Ignore altitude| Empty| Empty| Lat| Lon| Alt|
|
||||
uint16 VEHICLE_CMD_DO_SET_MODE = 176 # Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_JUMP = 177 # Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_CHANGE_SPEED = 178 # Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_SET_HOME = 179 # Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|
|
||||
uint16 VEHICLE_CMD_DO_SET_PARAMETER = 180 # Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_SET_RELAY = 181 # Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_REPEAT_RELAY = 182 # Cycle a relay on and off for a desired number of cycles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_REPEAT_SERVO = 184 # Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185 # Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_CHANGE_ALTITUDE = 186 # Set the vehicle to Loiter mode and change the altitude to specified value |Altitude| Frame of new altitude | Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_SET_ACTUATOR = 187 # Sets actuators (e.g. servos) to a desired value. |Actuator 1| Actuator 2| Actuator 3| Actuator 4| Actuator 5| Actuator 6| Index|
|
||||
uint16 VEHICLE_CMD_DO_LAND_START = 189 # Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty|
|
||||
uint16 VEHICLE_CMD_DO_GO_AROUND = 191 # Mission command to safely abort an autonomous landing. |Altitude (meters)| Empty| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_REPOSITION = 192 # Reposition to specific WGS84 GPS position. |Ground speed [m/s] |Bitmask |Loiter radius [m] for planes |Yaw [deg] |Latitude |Longitude |Altitude |
|
||||
uint16 VEHICLE_CMD_DO_PAUSE_CONTINUE = 193
|
||||
uint16 VEHICLE_CMD_DO_SET_ROI_LOCATION = 195 # Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude|
|
||||
uint16 VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196 # Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| pitch offset from next waypoint| roll offset from next waypoint| yaw offset from next waypoint|
|
||||
uint16 VEHICLE_CMD_DO_SET_ROI_NONE = 197 # Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_CONTROL_VIDEO = 200 # Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_SET_ROI = 201 # 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. |Region of interest mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
|
||||
uint16 VEHICLE_CMD_DO_DIGICAM_CONTROL=203
|
||||
uint16 VEHICLE_CMD_DO_MOUNT_CONFIGURE=204 # Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_MOUNT_CONTROL=205 # Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value|
|
||||
uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST=206 # Mission command to set TRIG_DIST for this flight |Camera trigger distance (meters)| Shutter integration time (ms)| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_FENCE_ENABLE=207 # Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_PARACHUTE=208 # Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_MOTOR_TEST=209 # motor test command |Instance (1, ...)| throttle type| throttle| timeout [s]| Motor count | Test order| Empty|
|
||||
uint16 VEHICLE_CMD_DO_INVERTED_FLIGHT=210 # Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_GRIPPER = 211 # Command to operate a gripper
|
||||
uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL=214 # Mission command to set TRIG_INTERVAL for this flight |Camera trigger distance (meters)| Shutter integration time (ms)| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220 # Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)| q2 - quaternion param #2, x (0 in null-rotation)| q3 - quaternion param #3, y (0 in null-rotation)| q4 - quaternion param #4, z (0 in null-rotation)| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_GUIDED_MASTER=221 # set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_GUIDED_LIMITS=222 # set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_LAST = 240 # NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241 # Trigger calibration. This command will be only accepted if in pre-flight mode. See mavlink spec MAV_CMD_PREFLIGHT_CALIBRATION
|
||||
uint16 PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION = 3# param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration
|
||||
uint16 VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242 # Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|
|
||||
uint16 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243 # UAVCAN configuration. If param 1 == 1 actuator mapping and direction assignment should be started
|
||||
uint16 VEHICLE_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246 # Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_OBLIQUE_SURVEY=260 # Mission command to set a Camera Auto Mount Pivoting Oblique Survey for this flight|Camera trigger distance (meters)| Shutter integration time (ms)| Camera minimum trigger interval| Number of positions| Roll| Pitch| Empty|
|
||||
uint16 VEHICLE_CMD_DO_SET_STANDARD_MODE=262 # Enable the specified standard MAVLink mode |MAV_STANDARD_MODE|
|
||||
uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information about a low level gimbal
|
||||
|
||||
uint16 VEHICLE_CMD_MISSION_START = 300 # start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)|
|
||||
uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command|value [-1,1]|timeout [s]|Empty|Empty|output function|
|
||||
uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command|configuration|Empty|Empty|Empty|output function|
|
||||
uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component |1 to arm, 0 to disarm
|
||||
uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401 # Instructs a target system to run pre-arm checks.
|
||||
uint16 VEHICLE_CMD_INJECT_FAILURE = 420 # Inject artificial failure for testing purposes
|
||||
uint16 VEHICLE_CMD_START_RX_PAIR = 500 # Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|
|
||||
uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512 # Request to send a single instance of the specified message
|
||||
uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521 # Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)|
|
||||
uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.)
|
||||
uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom
|
||||
uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532
|
||||
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw
|
||||
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 # Gimbal configuration to set which sysid/compid is in primary and secondary control
|
||||
uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000 # Start image capture sequence.
|
||||
uint16 VEHICLE_CMD_DO_TRIGGER_CONTROL = 2003 # Enable or disable on-board camera triggering system
|
||||
uint16 VEHICLE_CMD_VIDEO_START_CAPTURE = 2500 # Start a video capture.
|
||||
uint16 VEHICLE_CMD_VIDEO_STOP_CAPTURE = 2501 # Stop the current video capture.
|
||||
uint16 VEHICLE_CMD_LOGGING_START = 2510 # start streaming ULog data
|
||||
uint16 VEHICLE_CMD_LOGGING_STOP = 2511 # stop streaming ULog data
|
||||
uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600 # control starting/stopping transmitting data over the high latency link
|
||||
uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000 # Command VTOL transition
|
||||
uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001 # Request arm authorization
|
||||
uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 # Prepare a payload deployment in the flight plan
|
||||
uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed payload deployment
|
||||
uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006 # Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.
|
||||
uint16 VEHICLE_CMD_DO_WINCH = 42600 # Command to operate winch.
|
||||
|
||||
uint16 VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE = 43003 # external reset of estimator global position when deadreckoning
|
||||
uint16 VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE = 43004
|
||||
|
||||
# PX4 vehicle commands (beyond 16 bit mavlink commands)
|
||||
uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # start of PX4 internal only vehicle commands (> UINT16_MAX)
|
||||
uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude|
|
||||
uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Empty|Empty|Empty|Empty|Empty|Empty|
|
||||
|
||||
uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization |
|
||||
uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
|
||||
uint8 VEHICLE_MOUNT_MODE_MAVLINK_TARGETING = 2 # Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization |
|
||||
uint8 VEHICLE_MOUNT_MODE_RC_TARGETING = 3 # Load neutral position and start RC Roll,Pitch,Yaw control with stabilization |
|
||||
uint8 VEHICLE_MOUNT_MODE_GPS_POINT = 4 # Load neutral position and start to point to Lat,Lon,Alt |
|
||||
uint8 VEHICLE_MOUNT_MODE_ENUM_END = 5 #
|
||||
|
||||
uint8 VEHICLE_ROI_NONE = 0 # No region of interest |
|
||||
uint8 VEHICLE_ROI_WPNEXT = 1 # Point toward next MISSION |
|
||||
uint8 VEHICLE_ROI_WPINDEX = 2 # Point toward given MISSION |
|
||||
uint8 VEHICLE_ROI_LOCATION = 3 # Point toward fixed location |
|
||||
uint8 VEHICLE_ROI_TARGET = 4 # Point toward target
|
||||
uint8 VEHICLE_ROI_ENUM_END = 5
|
||||
|
||||
uint8 PARACHUTE_ACTION_DISABLE = 0
|
||||
uint8 PARACHUTE_ACTION_ENABLE = 1
|
||||
uint8 PARACHUTE_ACTION_RELEASE = 2
|
||||
|
||||
uint8 FAILURE_UNIT_SENSOR_GYRO = 0
|
||||
uint8 FAILURE_UNIT_SENSOR_ACCEL = 1
|
||||
uint8 FAILURE_UNIT_SENSOR_MAG = 2
|
||||
uint8 FAILURE_UNIT_SENSOR_BARO = 3
|
||||
uint8 FAILURE_UNIT_SENSOR_GPS = 4
|
||||
uint8 FAILURE_UNIT_SENSOR_OPTICAL_FLOW = 5
|
||||
uint8 FAILURE_UNIT_SENSOR_VIO = 6
|
||||
uint8 FAILURE_UNIT_SENSOR_DISTANCE_SENSOR = 7
|
||||
uint8 FAILURE_UNIT_SENSOR_AIRSPEED = 8
|
||||
uint8 FAILURE_UNIT_SYSTEM_BATTERY = 100
|
||||
uint8 FAILURE_UNIT_SYSTEM_MOTOR = 101
|
||||
uint8 FAILURE_UNIT_SYSTEM_SERVO = 102
|
||||
uint8 FAILURE_UNIT_SYSTEM_AVOIDANCE = 103
|
||||
uint8 FAILURE_UNIT_SYSTEM_RC_SIGNAL = 104
|
||||
uint8 FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL = 105
|
||||
|
||||
uint8 FAILURE_TYPE_OK = 0
|
||||
uint8 FAILURE_TYPE_OFF = 1
|
||||
uint8 FAILURE_TYPE_STUCK = 2
|
||||
uint8 FAILURE_TYPE_GARBAGE = 3
|
||||
uint8 FAILURE_TYPE_WRONG = 4
|
||||
uint8 FAILURE_TYPE_SLOW = 5
|
||||
uint8 FAILURE_TYPE_DELAYED = 6
|
||||
uint8 FAILURE_TYPE_INTERMITTENT = 7
|
||||
|
||||
# used as param1 in DO_CHANGE_SPEED command
|
||||
uint8 SPEED_TYPE_AIRSPEED = 0
|
||||
uint8 SPEED_TYPE_GROUNDSPEED = 1
|
||||
uint8 SPEED_TYPE_CLIMB_SPEED = 2
|
||||
uint8 SPEED_TYPE_DESCEND_SPEED = 3
|
||||
|
||||
# used as param3 in CMD_DO_ORBIT
|
||||
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0
|
||||
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1
|
||||
uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2
|
||||
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3
|
||||
uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4
|
||||
uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5
|
||||
|
||||
# used as param1 in ARM_DISARM command
|
||||
int8 ARMING_ACTION_DISARM = 0
|
||||
int8 ARMING_ACTION_ARM = 1
|
||||
|
||||
# param2 in VEHICLE_CMD_DO_GRIPPER
|
||||
uint8 GRIPPER_ACTION_RELEASE = 0
|
||||
uint8 GRIPPER_ACTION_GRAB = 1
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 8
|
||||
|
||||
float32 param1 # Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.
|
||||
float32 param2 # Parameter 2, as defined by MAVLink uint16 VEHICLE_CMD enum.
|
||||
float32 param3 # Parameter 3, as defined by MAVLink uint16 VEHICLE_CMD enum.
|
||||
float32 param4 # Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum.
|
||||
float64 param5 # Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum.
|
||||
float64 param6 # Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum.
|
||||
float32 param7 # Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum.
|
||||
uint32 command # Command ID
|
||||
uint8 target_system # System which should execute the command
|
||||
uint8 target_component # Component which should execute the command, 0 for all components
|
||||
uint8 source_system # System sending the command
|
||||
uint16 source_component # Component / mode executor sending the command
|
||||
uint8 confirmation # 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
|
||||
bool from_external
|
||||
|
||||
uint16 COMPONENT_MODE_EXECUTOR_START = 1000
|
||||
|
||||
# TOPICS vehicle_command gimbal_v1_command vehicle_command_mode_executor
|
||||
@@ -0,0 +1,35 @@
|
||||
# Vehicle Command Ackonwledgement uORB message.
|
||||
# Used for acknowledging the vehicle command being received.
|
||||
# Follows the MAVLink COMMAND_ACK message definition
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
# Result cases. This follows the MAVLink MAV_RESULT enum definition
|
||||
uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED |
|
||||
uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED |
|
||||
uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED |
|
||||
uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED |
|
||||
uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed |
|
||||
uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed |
|
||||
uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled
|
||||
|
||||
# Arming denied specific cases
|
||||
uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0
|
||||
uint16 ARM_AUTH_DENIED_REASON_NONE = 1
|
||||
uint16 ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT = 2
|
||||
uint16 ARM_AUTH_DENIED_REASON_TIMEOUT = 3
|
||||
uint16 ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE = 4
|
||||
uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 4
|
||||
|
||||
uint32 command # Command that is being acknowledged
|
||||
uint8 result # Command result
|
||||
uint8 result_param1 # Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS
|
||||
int32 result_param2 # Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
|
||||
uint8 target_system
|
||||
uint16 target_component # Target component / mode executor
|
||||
|
||||
bool from_external # Indicates if the command came from an external source
|
||||
@@ -0,0 +1,24 @@
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
bool flag_armed # synonym for actuator_armed.armed
|
||||
|
||||
bool flag_multicopter_position_control_enabled
|
||||
|
||||
bool flag_control_manual_enabled # true if manual input is mixed in
|
||||
bool flag_control_auto_enabled # true if onboard autopilot should act
|
||||
bool flag_control_offboard_enabled # true if offboard control should be used
|
||||
bool flag_control_position_enabled # true if position is controlled
|
||||
bool flag_control_velocity_enabled # true if horizontal velocity (implies direction) is controlled
|
||||
bool flag_control_altitude_enabled # true if altitude is controlled
|
||||
bool flag_control_climb_rate_enabled # true if climb rate is controlled
|
||||
bool flag_control_acceleration_enabled # true if acceleration is controlled
|
||||
bool flag_control_attitude_enabled # true if attitude stabilization is mixed in
|
||||
bool flag_control_rates_enabled # true if rates are stabilized
|
||||
bool flag_control_allocation_enabled # true if control allocation is enabled
|
||||
bool flag_control_termination_enabled # true if flighttermination is enabled
|
||||
|
||||
# TODO: use dedicated topic for external requests
|
||||
uint8 source_id # Mode ID (nav_state)
|
||||
|
||||
# TOPICS vehicle_control_mode config_control_setpoints
|
||||
@@ -0,0 +1,37 @@
|
||||
# Fused global position in WGS84.
|
||||
# This struct contains global position estimation. It is not the raw GPS
|
||||
# measurement (@see vehicle_gps_position). This topic is usually published by the position
|
||||
# estimator, which will take more sources of information into account than just GPS,
|
||||
# e.g. control inputs of the vehicle in a Kalman-filter implementation.
|
||||
#
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
|
||||
float64 lat # Latitude, (degrees)
|
||||
float64 lon # Longitude, (degrees)
|
||||
float32 alt # Altitude AMSL, (meters)
|
||||
float32 alt_ellipsoid # Altitude above ellipsoid, (meters)
|
||||
|
||||
bool lat_lon_valid
|
||||
bool alt_valid
|
||||
|
||||
float32 delta_alt # Reset delta for altitude
|
||||
float32 delta_terrain # Reset delta for terrain
|
||||
uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates
|
||||
uint8 alt_reset_counter # Counter for reset events on altitude
|
||||
uint8 terrain_reset_counter # Counter for reset events on terrain
|
||||
|
||||
float32 eph # Standard deviation of horizontal position error, (metres)
|
||||
float32 epv # Standard deviation of vertical position error, (metres)
|
||||
|
||||
float32 terrain_alt # Terrain altitude WGS84, (metres)
|
||||
bool terrain_alt_valid # Terrain altitude estimate is valid
|
||||
|
||||
bool dead_reckoning # True if this position is estimated through dead-reckoning
|
||||
|
||||
# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
|
||||
# TOPICS estimator_global_position
|
||||
# TOPICS aux_global_position
|
||||
@@ -0,0 +1,21 @@
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
bool freefall # true if vehicle is currently in free-fall
|
||||
bool ground_contact # true if vehicle has ground contact but is not landed (1. stage)
|
||||
bool maybe_landed # true if the vehicle might have landed (2. stage)
|
||||
bool landed # true if vehicle is currently landed on the ground (3. stage)
|
||||
|
||||
bool in_ground_effect # indicates if from the perspective of the landing detector the vehicle might be in ground effect (baro). This flag will become true if the vehicle is not moving horizontally and is descending (crude assumption that user is landing).
|
||||
bool in_descend
|
||||
|
||||
bool has_low_throttle
|
||||
|
||||
bool vertical_movement
|
||||
bool horizontal_movement
|
||||
bool rotational_movement
|
||||
|
||||
bool close_to_ground_or_skipped_check
|
||||
|
||||
bool at_rest
|
||||
@@ -0,0 +1,86 @@
|
||||
# Fused local position in NED.
|
||||
# The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
|
||||
bool xy_valid # true if x and y are valid
|
||||
bool z_valid # true if z is valid
|
||||
bool v_xy_valid # true if vx and vy are valid
|
||||
bool v_z_valid # true if vz is valid
|
||||
|
||||
# Position in local NED frame
|
||||
float32 x # North position in NED earth-fixed frame, (metres)
|
||||
float32 y # East position in NED earth-fixed frame, (metres)
|
||||
float32 z # Down position (negative altitude) in NED earth-fixed frame, (metres)
|
||||
|
||||
# Position reset delta
|
||||
float32[2] delta_xy # Amount of lateral shift of position estimate in latest reset (in x and y) [m]
|
||||
uint8 xy_reset_counter # Index of latest lateral position estimate reset
|
||||
float32 delta_z # Amount of vertical shift of position estimate in latest reset [m]
|
||||
uint8 z_reset_counter # Index of latest vertical position estimate reset
|
||||
|
||||
# Velocity in NED frame
|
||||
float32 vx # North velocity in NED earth-fixed frame, (metres/sec)
|
||||
float32 vy # East velocity in NED earth-fixed frame, (metres/sec)
|
||||
float32 vz # Down velocity in NED earth-fixed frame, (metres/sec)
|
||||
float32 z_deriv # Down position time derivative in NED earth-fixed frame, (metres/sec)
|
||||
|
||||
# Velocity reset delta
|
||||
float32[2] delta_vxy # Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s]
|
||||
uint8 vxy_reset_counter # Index of latest vertical velocity estimate reset
|
||||
float32 delta_vz # Amount of vertical shift of velocity estimate in latest reset [m/s]
|
||||
uint8 vz_reset_counter # Index of latest vertical velocity estimate reset
|
||||
|
||||
# Acceleration in NED frame
|
||||
float32 ax # North velocity derivative in NED earth-fixed frame, (metres/sec^2)
|
||||
float32 ay # East velocity derivative in NED earth-fixed frame, (metres/sec^2)
|
||||
float32 az # Down velocity derivative in NED earth-fixed frame, (metres/sec^2)
|
||||
|
||||
float32 heading # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)
|
||||
float32 heading_var
|
||||
float32 unaided_heading # Same as heading but generated by integrating corrected gyro data only
|
||||
float32 delta_heading # Heading delta caused by latest heading reset [rad]
|
||||
uint8 heading_reset_counter # Index of latest heading reset
|
||||
bool heading_good_for_control
|
||||
|
||||
float32 tilt_var
|
||||
|
||||
# Position of reference point (local NED frame origin) in global (GPS / WGS84) frame
|
||||
bool xy_global # true if position (x, y) has a valid global reference (ref_lat, ref_lon)
|
||||
bool z_global # true if z has a valid global reference (ref_alt)
|
||||
uint64 ref_timestamp # Time when reference position was set since system start, (microseconds)
|
||||
float64 ref_lat # Reference point latitude, (degrees)
|
||||
float64 ref_lon # Reference point longitude, (degrees)
|
||||
float32 ref_alt # Reference altitude AMSL, (metres)
|
||||
|
||||
# Distance to surface
|
||||
bool dist_bottom_valid # true if distance to bottom surface is valid
|
||||
float32 dist_bottom # Distance from from bottom surface to ground, (metres)
|
||||
float32 dist_bottom_var # terrain estimate variance (m^2)
|
||||
|
||||
float32 delta_dist_bottom # Amount of vertical shift of dist bottom estimate in latest reset [m]
|
||||
uint8 dist_bottom_reset_counter # Index of latest dist bottom estimate reset
|
||||
|
||||
uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom
|
||||
uint8 DIST_BOTTOM_SENSOR_NONE = 0
|
||||
uint8 DIST_BOTTOM_SENSOR_RANGE = 1 # (1 << 0) a range sensor is used to estimate dist_bottom field
|
||||
uint8 DIST_BOTTOM_SENSOR_FLOW = 2 # (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case)
|
||||
|
||||
float32 eph # Standard deviation of horizontal position error, (metres)
|
||||
float32 epv # Standard deviation of vertical position error, (metres)
|
||||
float32 evh # Standard deviation of horizontal velocity error, (metres/sec)
|
||||
float32 evv # Standard deviation of vertical velocity error, (metres/sec)
|
||||
|
||||
bool dead_reckoning # True if this position is estimated through dead-reckoning
|
||||
|
||||
# estimator specified vehicle limits
|
||||
float32 vxy_max # maximum horizontal speed - set to 0 when limiting not required (meters/sec)
|
||||
float32 vz_max # maximum vertical speed - set to 0 when limiting not required (meters/sec)
|
||||
float32 hagl_min # minimum height above ground level - set to 0 when limiting not required (meters)
|
||||
float32 hagl_max # maximum height above ground level - set to 0 when limiting not required (meters)
|
||||
|
||||
# TOPICS vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position
|
||||
# TOPICS estimator_local_position
|
||||
@@ -0,0 +1,34 @@
|
||||
# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample
|
||||
|
||||
uint8 POSE_FRAME_UNKNOWN = 0
|
||||
uint8 POSE_FRAME_NED = 1 # NED earth-fixed frame
|
||||
uint8 POSE_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference
|
||||
uint8 pose_frame # Position and orientation frame of reference
|
||||
|
||||
float32[3] position # Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
|
||||
float32[4] q # Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown
|
||||
|
||||
uint8 VELOCITY_FRAME_UNKNOWN = 0
|
||||
uint8 VELOCITY_FRAME_NED = 1 # NED earth-fixed frame
|
||||
uint8 VELOCITY_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference
|
||||
uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
|
||||
uint8 velocity_frame # Reference frame of the velocity data
|
||||
|
||||
float32[3] velocity # Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown
|
||||
|
||||
float32[3] angular_velocity # Angular velocity in body-fixed frame (rad/s). NaN if invalid/unknown
|
||||
|
||||
float32[3] position_variance
|
||||
float32[3] orientation_variance
|
||||
float32[3] velocity_variance
|
||||
|
||||
uint8 reset_counter
|
||||
int8 quality
|
||||
|
||||
# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
|
||||
# TOPICS estimator_odometry
|
||||
@@ -0,0 +1,14 @@
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
# body angular rates in FRD frame
|
||||
float32 roll # [rad/s] roll rate setpoint
|
||||
float32 pitch # [rad/s] pitch rate setpoint
|
||||
float32 yaw # [rad/s] yaw rate setpoint
|
||||
|
||||
# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
|
||||
# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
|
||||
float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1]
|
||||
|
||||
bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)
|
||||
@@ -0,0 +1,140 @@
|
||||
# Encodes the system state of the vehicle published by commander
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint64 armed_time # Arming timestamp (microseconds)
|
||||
uint64 takeoff_time # Takeoff timestamp (microseconds)
|
||||
|
||||
uint8 arming_state
|
||||
uint8 ARMING_STATE_DISARMED = 1
|
||||
uint8 ARMING_STATE_ARMED = 2
|
||||
|
||||
uint8 latest_arming_reason
|
||||
uint8 latest_disarming_reason
|
||||
uint8 ARM_DISARM_REASON_TRANSITION_TO_STANDBY = 0
|
||||
uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
|
||||
uint8 ARM_DISARM_REASON_RC_SWITCH = 2
|
||||
uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
|
||||
uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
|
||||
uint8 ARM_DISARM_REASON_MISSION_START = 5
|
||||
uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6
|
||||
uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7
|
||||
uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8
|
||||
uint8 ARM_DISARM_REASON_KILL_SWITCH = 9
|
||||
uint8 ARM_DISARM_REASON_LOCKDOWN = 10
|
||||
uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11
|
||||
uint8 ARM_DISARM_REASON_SHUTDOWN = 12
|
||||
uint8 ARM_DISARM_REASON_UNIT_TEST = 13
|
||||
|
||||
uint64 nav_state_timestamp # time when current nav_state activated
|
||||
|
||||
uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation)
|
||||
|
||||
uint8 nav_state # Currently active mode
|
||||
uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
|
||||
uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
|
||||
uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
|
||||
uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
|
||||
uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
|
||||
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
|
||||
uint8 NAVIGATION_STATE_POSITION_SLOW = 6
|
||||
uint8 NAVIGATION_STATE_FREE5 = 7
|
||||
uint8 NAVIGATION_STATE_FREE4 = 8
|
||||
uint8 NAVIGATION_STATE_FREE3 = 9
|
||||
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
|
||||
uint8 NAVIGATION_STATE_FREE2 = 11
|
||||
uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
|
||||
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
|
||||
uint8 NAVIGATION_STATE_OFFBOARD = 14
|
||||
uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
|
||||
uint8 NAVIGATION_STATE_FREE1 = 16
|
||||
uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
|
||||
uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
|
||||
uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
|
||||
uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
|
||||
uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
|
||||
uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
|
||||
uint8 NAVIGATION_STATE_EXTERNAL1 = 23
|
||||
uint8 NAVIGATION_STATE_EXTERNAL2 = 24
|
||||
uint8 NAVIGATION_STATE_EXTERNAL3 = 25
|
||||
uint8 NAVIGATION_STATE_EXTERNAL4 = 26
|
||||
uint8 NAVIGATION_STATE_EXTERNAL5 = 27
|
||||
uint8 NAVIGATION_STATE_EXTERNAL6 = 28
|
||||
uint8 NAVIGATION_STATE_EXTERNAL7 = 29
|
||||
uint8 NAVIGATION_STATE_EXTERNAL8 = 30
|
||||
uint8 NAVIGATION_STATE_MAX = 31
|
||||
|
||||
uint8 executor_in_charge # Current mode executor in charge (0=Autopilot)
|
||||
|
||||
uint32 valid_nav_states_mask # Bitmask for all valid nav_state values
|
||||
uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select
|
||||
|
||||
# Bitmask of detected failures
|
||||
uint16 failure_detector_status
|
||||
uint16 FAILURE_NONE = 0
|
||||
uint16 FAILURE_ROLL = 1 # (1 << 0)
|
||||
uint16 FAILURE_PITCH = 2 # (1 << 1)
|
||||
uint16 FAILURE_ALT = 4 # (1 << 2)
|
||||
uint16 FAILURE_EXT = 8 # (1 << 3)
|
||||
uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
|
||||
uint16 FAILURE_BATTERY = 32 # (1 << 5)
|
||||
uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
|
||||
uint16 FAILURE_MOTOR = 128 # (1 << 7)
|
||||
|
||||
uint8 hil_state
|
||||
uint8 HIL_STATE_OFF = 0
|
||||
uint8 HIL_STATE_ON = 1
|
||||
|
||||
# If it's a VTOL, then the value will be VEHICLE_TYPE_ROTARY_WING while flying as a multicopter, and VEHICLE_TYPE_FIXED_WING when flying as a fixed-wing
|
||||
uint8 vehicle_type
|
||||
uint8 VEHICLE_TYPE_UNKNOWN = 0
|
||||
uint8 VEHICLE_TYPE_ROTARY_WING = 1
|
||||
uint8 VEHICLE_TYPE_FIXED_WING = 2
|
||||
uint8 VEHICLE_TYPE_ROVER = 3
|
||||
uint8 VEHICLE_TYPE_AIRSHIP = 4
|
||||
|
||||
uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
|
||||
uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
|
||||
uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe
|
||||
|
||||
bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
|
||||
bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
|
||||
uint8 failsafe_defer_state # one of FAILSAFE_DEFER_STATE_*
|
||||
|
||||
# Link loss
|
||||
bool gcs_connection_lost # datalink to GCS lost
|
||||
uint8 gcs_connection_lost_counter # counts unique GCS connection lost events
|
||||
bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
|
||||
|
||||
# VTOL flags
|
||||
bool is_vtol # True if the system is VTOL capable
|
||||
bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
|
||||
bool in_transition_mode # True if VTOL is doing a transition
|
||||
bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
|
||||
|
||||
# MAVLink identification
|
||||
uint8 system_type # system type, contains mavlink MAV_TYPE
|
||||
uint8 system_id # system id, contains MAVLink's system ID field
|
||||
uint8 component_id # subsystem / component id, contains MAVLink's component ID field
|
||||
|
||||
bool safety_button_available # Set to true if a safety button is connected
|
||||
bool safety_off # Set to true if safety is off
|
||||
|
||||
bool power_input_valid # set if input power is valid
|
||||
bool usb_connected # set to true (never cleared) once telemetry received from usb link
|
||||
|
||||
bool open_drone_id_system_present
|
||||
bool open_drone_id_system_healthy
|
||||
|
||||
bool parachute_system_present
|
||||
bool parachute_system_healthy
|
||||
|
||||
bool avoidance_system_required # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter
|
||||
bool avoidance_system_valid # Status of the obstacle avoidance system
|
||||
|
||||
bool rc_calibration_in_progress
|
||||
bool calibration_enabled
|
||||
|
||||
bool pre_flight_checks_pass # true if all checks necessary to arm pass
|
||||
@@ -0,0 +1,15 @@
|
||||
# VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint8 VEHICLE_VTOL_STATE_UNDEFINED = 0
|
||||
uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1
|
||||
uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2
|
||||
uint8 VEHICLE_VTOL_STATE_MC = 3
|
||||
uint8 VEHICLE_VTOL_STATE_FW = 4
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 vehicle_vtol_state # current state of the vtol, see VEHICLE_VTOL_STATE
|
||||
|
||||
bool fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
|
||||
Reference in New Issue
Block a user