mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-25 08:10:35 +08:00
wip: squashed patch
This commit is contained in:
Thomas Stastny
@@ -61,6 +61,7 @@ set(msg_files
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collision_report.msg
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commander_state.msg
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control_allocator_status.msg
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custom_action_status.msg
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cpuload.msg
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differential_pressure.msg
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distance_sensor.msg
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@@ -81,7 +82,10 @@ set(msg_files
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estimator_aid_source_2d.msg
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estimator_aid_source_3d.msg
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event.msg
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figure_eight_status.msg
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follow_target_status.msg
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follow_target.msg
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follow_target_estimator.msg
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failure_detector_status.msg
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generator_status.msg
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geofence_result.msg
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@@ -94,6 +98,7 @@ set(msg_files
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gimbal_manager_status.msg
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gps_dump.msg
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gps_inject_data.msg
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gripper.msg
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heater_status.msg
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home_position.msg
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hover_thrust_estimate.msg
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@@ -135,6 +140,7 @@ set(msg_files
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pwm_input.msg
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px4io_status.msg
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radio_status.msg
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radio_status_extensions.msg
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rate_ctrl_status.msg
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rc_channels.msg
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rc_parameter_map.msg
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@@ -185,6 +191,7 @@ set(msg_files
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vehicle_attitude_setpoint.msg
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vehicle_command.msg
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vehicle_command_ack.msg
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vehicle_command_cancel.msg
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vehicle_constraints.msg
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vehicle_control_mode.msg
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vehicle_global_position.msg
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@@ -1,5 +1,5 @@
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uint64 timestamp # time since system start (microseconds)
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uint8 NUM_ACTUATOR_CONTROLS = 8
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uint8 NUM_ACTUATOR_CONTROLS = 10
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uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
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uint8 INDEX_ROLL = 0
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uint8 INDEX_PITCH = 1
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@@ -12,6 +12,7 @@ uint8 INDEX_LANDING_GEAR = 7
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uint8 INDEX_GIMBAL_SHUTTER = 3
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uint8 INDEX_CAMERA_ZOOM = 4
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uint8 INDEX_COLLECTIVE_TILT = 8
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uint8 INDEX_WHEEL = 9
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uint8 GROUP_INDEX_ATTITUDE = 0
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uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
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@@ -20,7 +21,7 @@ uint8 GROUP_INDEX_MANUAL_PASSTHROUGH = 3
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uint8 GROUP_INDEX_PAYLOAD = 6
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uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
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float32[9] control
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float32[10] control
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# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2 actuator_controls_3
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# TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
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@@ -7,6 +7,9 @@ float32 true_airspeed_m_s # true filtered airspeed in m/s (TAS), set to NAN if
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float32 calibrated_ground_minus_wind_m_s # CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
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float32 true_ground_minus_wind_m_s # TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
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float32 calibrated_airspeed_trim_m_s # CAS approximated from trim airspeed setting, set to NAN if invalid
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float32 true_airspeed_trim_m_s # TAS approximated from trim airspeed setting, set to NAN if invalid
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bool airspeed_sensor_measurement_valid # True if data from at least one airspeed sensor is declared valid.
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int8 selected_airspeed_index # 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid
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@@ -1,4 +1,7 @@
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uint64 timestamp # time since system start (microseconds)
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uint8 CONNECTED_BATTERIES_MAX = 4 # The number of max supported batteries
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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 voltage_filtered_v # Battery voltage in volts, filtered, 0 if unknown
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@@ -17,10 +20,12 @@ 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 capacity # actual capacity of the battery in mAh
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uint8 model # Battery model
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uint8[2] fw_version # Firmware version,format MAJOR.MINOR where [0] = MAJOR
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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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char[16] serial_number # serial number of the battery pack in ASCII characters
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uint16 manufacture_date # manufacture date, part of serial number of the battery pack. formated 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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@@ -5,5 +5,5 @@ float64 lat # Latitude in degrees (WGS84)
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float64 lon # Longitude in degrees (WGS84)
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float32 alt # Altitude (AMSL)
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float32 ground_distance # Altitude above ground (meters)
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float32[4] q # Attitude of the camera, zero rotation is facing towards front of vehicle
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float32[4] q # Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude
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int8 result # 1 for success, 0 for failure, -1 if camera does not provide feedback
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@@ -6,4 +6,4 @@ bool feedback # Trigger feedback from camera
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uint32 ORB_QUEUE_LENGTH = 2
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# TOPICS camera_trigger
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# TOPICS camera_trigger
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@@ -17,7 +17,8 @@ uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
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uint8 MAIN_STATE_AUTO_PRECLAND = 13
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uint8 MAIN_STATE_ORBIT = 14
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uint8 MAIN_STATE_AUTO_VTOL_TAKEOFF = 15
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uint8 MAIN_STATE_MAX = 16
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uint8 MAIN_STATE_INIT = 16
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uint8 MAIN_STATE_MAX = 17
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uint8 main_state
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@@ -1,12 +1,10 @@
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uint64 timestamp # time since system start (microseconds)
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bool torque_setpoint_achieved # Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
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float32[3] allocated_torque # Torque allocated to actuators. Equal to `vehicle_torque_setpoint_s::xyz` if the setpoint was achieved.
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float32[3] unallocated_torque # Unallocated torque. Equal to 0 if the setpoint was achieved.
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# Computed as: unallocated_torque = torque_setpoint - allocated_torque
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bool thrust_setpoint_achieved # Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
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float32[3] allocated_thrust # Thrust allocated to actuators. Equal to `vehicle_thrust_setpoint_s::xyz` if the setpoint was achieved.
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float32[3] unallocated_thrust # Unallocated thrust. Equal to 0 if the setpoint was achieved.
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# Computed as: unallocated_thrust = thrust_setpoint - allocated_thrust
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@@ -0,0 +1,16 @@
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uint64 timestamp # time since system start (microseconds)
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uint8 STATUS_ACTION_ACCEPTED = 0
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uint8 STATUS_ACTION_STARTED = 1
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uint8 STATUS_ACTION_SUCCEEDED = 2
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uint8 STATUS_ACTION_CANCELLED = 3
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uint8 STATUS_ACTION_FAILED = 4
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uint8 STATUS_ACTION_TIMED_OUT = 5
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int8 REACTION_IGNORE = 0
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int8 REACTION_LOITER = 1
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int8 REACTION_RTL = 2
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int8 action_id # ID of current action. -1 for none.
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uint8 status # Current status of custom actions
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uint8 failure_reaction # Reaction performed because of failed custom action
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@@ -0,0 +1,8 @@
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uint64 timestamp # time since system start (microseconds)
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float32 major_radius # Major axis radius of the figure eight [m]. Positive values orbit clockwise, negative values orbit counter-clockwise.
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float32 minor_radius # Minor axis radius of the figure eight [m].
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float32 orientation # Orientation of the major axis of the figure eight [rad].
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uint8 frame # The coordinate system of the fields: x, y, z.
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int32 x # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
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int32 y # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7.
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float32 z # Altitude of center point. Coordinate system depends on frame field.
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+11
-8
@@ -1,8 +1,11 @@
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uint64 timestamp # time since system start (microseconds)
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float64 lat # target position (deg * 1e7)
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float64 lon # target position (deg * 1e7)
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float32 alt # target position
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float32 vy # target vel in y
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float32 vx # target vel in x
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float32 vz # target vel in z
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uint8 est_cap # target reporting capabilities
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uint64 timestamp # time since system start (microseconds)
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float64 lat # target position (deg * 1e7)
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float64 lon # target position (deg * 1e7)
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float32 alt # target position
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float32 vy # target vel in y
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float32 vx # target vel in x
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float32 vz # target vel in z
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uint8 est_cap # target reporting capabilities
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@@ -0,0 +1,13 @@
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uint64 timestamp # time since system start (microseconds)
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uint64 last_filter_reset_timestamp # time of last filter reset (microseconds)
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bool valid # True if estimator states are okay to be used
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bool stale # True if estimator stopped receiving follow_target messages for some time. The estimate can still be valid, though it might be inaccurate.
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float64 lat_est # Estimated target latitude
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float64 lon_est # Estimated target longitude
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float32 alt_est # Estimated target altitude
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float32[3] pos_est # Estimated target NED position (m)
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float32[3] vel_est # Estimated target NED velocity (m/s)
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float32[3] acc_est # Estimated target NED acceleration (m^2/s)
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@@ -0,0 +1,3 @@
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uint64 timestamp # time since system start (microseconds)
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float32[3] pos_est_filtered # Lowpass-filtered target position used for vehicle's setpoint generation
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@@ -2,7 +2,7 @@ uint64 timestamp # time since system start (microseconds)
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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uint8 len # length of data
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uint16 len # length of data
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uint8 flags # LSB: 1=fragmented
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uint8[300] data # data to write to GPS device (RTCM message)
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@@ -0,0 +1,7 @@
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## Used to command an actuation in the gripper, which is mapped to a specific output in the mixer module
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uint64 timestamp
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int8 command # Commanded state for the gripper
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int8 COMMAND_GRAB = 0
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int8 COMMAND_RELEASE = 1
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@@ -6,3 +6,5 @@ uint8 severity # log level (same as in the linux kernel, starting with 0)
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char[127] text
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uint8 ORB_QUEUE_LENGTH = 4
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# TOPICS log_message log_message_incoming
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@@ -29,4 +29,6 @@ uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGH
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uint8 photo_switch # Photo trigger switch
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uint8 video_switch # Photo trigger switch
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uint8 engage_main_motor_switch # Engage the main motor (for helicopters)
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uint32 switch_changes # number of switch changes
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@@ -3,3 +3,6 @@ uint8 dataman_id # default 0, there are two offboard storage places in the datam
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uint16 count # count of the missions stored in the dataman
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int32 current_seq # default -1, start at the one changed latest
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bool valid # true if mission passed feasibility checks
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bool clear_mission # true if mission is cleared in dataman
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@@ -1,9 +1,16 @@
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp # [us] time since system start
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float32 lateral_touchdown_offset # [m] lateral touchdown position offset manually commanded during landing
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bool flaring # true if the aircraft is flaring
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float32 horizontal_slope_displacement
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# abort status is:
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# 0 if not aborted
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# >0 if aborted, with the singular abort criterion which triggered the landing abort enumerated by the following abort reasons
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uint8 abort_status
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float32 slope_angle_rad
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float32 flare_length
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bool abort_landing # true if landing should be aborted
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# abort reasons
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# after the manual operator abort, corresponds to individual bits of param FW_LND_ABORT
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uint8 NOT_ABORTED = 0
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uint8 ABORTED_BY_OPERATOR = 1
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uint8 TERRAIN_NOT_FOUND = 2 # FW_LND_ABORT (1 << 0)
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uint8 TERRAIN_TIMEOUT = 3 # FW_LND_ABORT (1 << 1)
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uint8 UNKNOWN_ABORT_CRITERION = 4
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@@ -10,6 +10,9 @@ uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend un
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uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC)
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uint8 SETPOINT_TYPE_FOLLOW_TARGET=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by follow target
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uint8 LOITER_TYPE_ORBIT=0 # Circular pattern
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uint8 LOITER_TYPE_FIGUREEIGHT=1 # Pattern resembling an 8
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uint8 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED
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uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED
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@@ -34,12 +37,16 @@ bool yawspeed_valid # true if yawspeed setpoint valid
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int8 landing_gear # landing gear: see definition of the states in landing_gear.msg
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float32 loiter_radius # loiter radius (only for fixed wing), in m
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int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW
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float32 loiter_radius # loiter major axis radius in m
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float32 loiter_minor_radius # loiter minor axis radius (used for non-circular loiter shapes) in m
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bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field
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float32 loiter_orientation # Orientation of the major axis with respect to true north in rad [-pi,pi)
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uint8 loiter_pattern # loitern pattern to follow
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float32 acceptance_radius # navigation acceptance_radius if we're doing waypoint navigation
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float32 cruising_speed # the generally desired cruising speed (not a hard constraint)
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float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint)
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bool gliding_enabled # commands the vehicle to glide if the capability is available (fixed wing only)
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float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint), only has an effect for rover
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bool disable_weather_vane # VTOL: disable (in auto mode) the weather vane feature that turns the nose into the wind
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+2
-1
@@ -1,2 +1,3 @@
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uint64 timestamp # time since system start (microseconds) at PPS capture event
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uint64 rtc_timestamp # Corrected GPS UTC timestamp at PPS capture event
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uint64 rtc_timestamp # Corrected GPS UTC timestamp at PPS capture event
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uint8 pps_rate_exceeded_counter # Increments when PPS dt < 50ms
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@@ -0,0 +1,8 @@
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uint64 timestamp # time since system start(microseconds)
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uint8 rssi # [dB] received signal strength indicator
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uint8 snr # [dB] signal to noise ratio
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uint8 mcs_index # multipoint coding scheme index
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uint8 number_spatial_streams # number of spatial streams
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uint8 queue_size # queue size, number of packets in tx queue
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uint8 air_time # percentage of the time the radio is transmitting
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+3
-1
@@ -27,13 +27,15 @@ uint8 FUNCTION_FLTBTN_SLOT_3 = 23
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uint8 FUNCTION_FLTBTN_SLOT_4 = 24
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uint8 FUNCTION_FLTBTN_SLOT_5 = 25
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uint8 FUNCTION_FLTBTN_SLOT_6 = 26
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uint8 FUNCTION_ENGAGE_MAIN_MOTOR = 27
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uint8 FUNCTION_FLTBTN_SLOT_COUNT = 6
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uint64 timestamp_last_valid # Timestamp of last valid RC signal
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float32[18] channels # Scaled to -1..1 (throttle: 0..1)
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uint8 channel_count # Number of valid channels
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int8[27] function # Functions mapping
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int8[28] function # Functions mapping
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uint8 rssi # Receive signal strength index
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bool signal_lost # Control signal lost, should be checked together with topic timeout
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uint32 frame_drop_count # Number of dropped frames
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||||
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@@ -6,6 +6,7 @@ uint8 TECS_MODE_LAND = 3
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||||
uint8 TECS_MODE_LAND_THROTTLELIM = 4
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uint8 TECS_MODE_BAD_DESCENT = 5
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uint8 TECS_MODE_CLIMBOUT = 6
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||||
uint8 TECS_MODE_ECO= 7
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||||
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||||
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float32 altitude_sp
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@@ -40,5 +41,12 @@ float32 pitch_integ
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float32 throttle_sp
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float32 pitch_sp_rad
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float32 throttle_trim # estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions
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uint8 mode
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uint8 flight_phase
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uint8 TECS_FLIGHT_PHASE_LEVEL = 0 # In level flight (no altitude setpoint change)
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uint8 TECS_FLIGHT_PHASE_CLIMB = 1 # Climb is triggered (altitude setpoint is increasing)
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uint8 TECS_FLIGHT_PHASE_DESCEND = 2 # Descend is triggered (altitude setpoint is descreasing)
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@@ -45,6 +45,7 @@ bool heartbeat_type_gimbal # MAV_TYPE_GIMBAL
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bool heartbeat_type_adsb # MAV_TYPE_ADSB
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bool heartbeat_type_camera # MAV_TYPE_CAMERA
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bool heartbeat_type_parachute # MAV_TYPE_PARACHUTE
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bool heartbeat_type_open_drone_id # MAV_TYPE_ODID
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||||
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||||
# Heartbeats per component
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bool heartbeat_component_telemetry_radio # MAV_COMP_ID_TELEMETRY_RADIO
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||||
@@ -59,3 +60,4 @@ bool heartbeat_component_uart_bridge # MAV_COMP_ID_UART_BRIDGE
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# Misc component health
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bool avoidance_system_healthy
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bool parachute_system_healthy
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||||
bool open_drone_id_system_healthy
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||||
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||||
@@ -197,7 +197,7 @@ static int launch_send_thread(pthread_t &sender_thread, struct SendThreadArgs &a
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||||
pthread_attr_setstacksize(&sender_thread_attr, PX4_STACK_ADJUSTED(2250));
|
||||
struct sched_param param;
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||||
(void)pthread_attr_getschedparam(&sender_thread_attr, ¶m);
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||||
param.sched_priority = SCHED_PRIORITY_DEFAULT;
|
||||
param.sched_priority = SCHED_PRIORITY_DEFAULT - 5;
|
||||
(void)pthread_attr_setschedparam(&sender_thread_attr, ¶m);
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||||
int rc = pthread_create(&sender_thread, &sender_thread_attr, &send, (void *)&args);
|
||||
if (rc != 0) {
|
||||
|
||||
+1
-1
@@ -11,4 +11,4 @@ uint32 timeout_ms # timeout in ms after which to exit test mode (if 0, do not
|
||||
|
||||
uint8 driver_instance # select output driver (for boards with multiple outputs, like IO+FMU)
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 4
|
||||
uint8 ORB_QUEUE_LENGTH = 8
|
||||
|
||||
@@ -86,5 +86,3 @@ rtps:
|
||||
receive: true
|
||||
- msg: timesync_status
|
||||
send: true
|
||||
- msg: sensor_combined
|
||||
send: true
|
||||
|
||||
+48
-44
@@ -1,4 +1,7 @@
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
# Vehicle Command uORB message. Used for commanding a mission / action / etc.
|
||||
# Follows the MAVLink COMMAND_INT / COMMAND_LONG definition
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint16 VEHICLE_CMD_CUSTOM_0 = 0 # test command
|
||||
uint16 VEHICLE_CMD_CUSTOM_1 = 1 # test command
|
||||
@@ -11,7 +14,8 @@ uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location |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_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|
|
||||
@@ -24,7 +28,7 @@ uint16 VEHICLE_CMD_CONDITION_DELAY = 112 # Delay mission state machine. |Delay
|
||||
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_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|
|
||||
@@ -41,11 +45,11 @@ uint16 VEHICLE_CMD_DO_LAND_START = 189 # Mission command to perform a landing.
|
||||
uint16 VEHICLE_CMD_DO_GO_AROUND = 191 # Mission command to safely abort an autonmous landing. |Altitude (meters)| Empty| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_REPOSITION = 192
|
||||
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_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_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|
|
||||
@@ -54,18 +58,20 @@ uint16 VEHICLE_CMD_DO_FENCE_ENABLE=207 # Mission command to enable the geofenc
|
||||
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_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_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 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_PREFLIGHT_ACTUATOR_TEST = 247 # Command the vehicle to perform specific actuator test which include fixed wing control surfaces and tiltrotor tilt mechanism. | axis - #param1, 1 Roll, 2 Pitch, 3 Yaw, 4 Tilt | Direction - #param2 0: Command positive actuation, 1: Command negative actuation. |
|
||||
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)|
|
||||
@@ -74,57 +80,51 @@ uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command|co
|
||||
uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component |1 to arm, 0 to disarm
|
||||
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_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.)
|
||||
uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom
|
||||
uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512 # Request to send a single instance of the specified message
|
||||
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_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_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_NAV_WAYPOINT_USER_1 = 31000
|
||||
|
||||
uint16 VEHICLE_CMD_DO_WINCH = 42600 # Command to operate winch.
|
||||
|
||||
# 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 co-ordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude|
|
||||
|
||||
|
||||
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_ENUM_END = 6 #
|
||||
|
||||
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_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_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_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 VEHICLE_CAMERA_ZOOM_TYPE_STEP = 0 # Zoom one step increment
|
||||
uint8 VEHICLE_CAMERA_ZOOM_TYPE_CONTINUOUS = 1 # Continuous zoom up/down until stopped
|
||||
uint8 VEHICLE_CAMERA_ZOOM_TYPE_RANGE = 2 # Zoom value as proportion of full camera range
|
||||
uint8 VEHICLE_CAMERA_ZOOM_TYPE_FOCAL_LENGTH = 3 # Zoom to a focal length
|
||||
uint8 VEHICLE_CAMERA_ZOOM_TYPE_STEP = 0 # Zoom one step increment
|
||||
uint8 VEHICLE_CAMERA_ZOOM_TYPE_CONTINUOUS = 1 # Continuous zoom up/down until stopped
|
||||
uint8 VEHICLE_CAMERA_ZOOM_TYPE_RANGE = 2 # Zoom value as proportion of full camera range
|
||||
uint8 VEHICLE_CAMERA_ZOOM_TYPE_FOCAL_LENGTH = 3 # Zoom to a focal length
|
||||
|
||||
uint8 PARACHUTE_ACTION_DISABLE = 0
|
||||
uint8 PARACHUTE_ACTION_ENABLE = 1
|
||||
@@ -165,6 +165,10 @@ uint8 SPEED_TYPE_DESCEND_SPEED = 3
|
||||
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.
|
||||
|
||||
+22
-13
@@ -1,11 +1,19 @@
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint8 VEHICLE_RESULT_ACCEPTED = 0
|
||||
uint8 VEHICLE_RESULT_TEMPORARILY_REJECTED = 1
|
||||
uint8 VEHICLE_RESULT_DENIED = 2
|
||||
uint8 VEHICLE_RESULT_UNSUPPORTED = 3
|
||||
uint8 VEHICLE_RESULT_FAILED = 4
|
||||
uint8 VEHICLE_RESULT_IN_PROGRESS = 5
|
||||
# Vehicle Command Ackonwledgement uORB message.
|
||||
# Used for acknowledging the vehicle command being received.
|
||||
# Follows the MAVLink COMMAND_ACK message definition
|
||||
|
||||
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
|
||||
@@ -13,12 +21,13 @@ 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
|
||||
uint8 ORB_QUEUE_LENGTH = 8
|
||||
|
||||
uint32 command
|
||||
uint8 result
|
||||
bool from_external
|
||||
uint8 result_param1
|
||||
int32 result_param2
|
||||
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
|
||||
uint8 target_component
|
||||
|
||||
bool from_external # Indicates if the command came from an external source
|
||||
|
||||
@@ -0,0 +1,7 @@
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 3
|
||||
|
||||
uint16 command
|
||||
uint8 target_system
|
||||
uint8 target_component
|
||||
@@ -18,8 +18,13 @@ float32 hdop # Horizontal dilution of precision
|
||||
float32 vdop # Vertical dilution of precision
|
||||
|
||||
int32 noise_per_ms # GPS noise per millisecond
|
||||
int32 jamming_indicator # indicates jamming is occurring
|
||||
|
||||
uint8 JAMMING_STATE_UNKNOWN = 0
|
||||
uint8 JAMMING_STATE_OK = 1
|
||||
uint8 JAMMING_STATE_WARNING = 2
|
||||
uint8 JAMMING_STATE_CRITICAL = 3
|
||||
uint8 jamming_state # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
|
||||
int32 jamming_indicator # indicates jamming is occurring
|
||||
|
||||
float32 vel_m_s # GPS ground speed, (metres/sec)
|
||||
float32 vel_n_m_s # GPS North velocity, (metres/sec)
|
||||
|
||||
@@ -12,6 +12,7 @@ bool has_low_throttle
|
||||
|
||||
bool vertical_movement
|
||||
bool horizontal_movement
|
||||
bool rotational_movement
|
||||
|
||||
bool close_to_ground_or_skipped_check
|
||||
|
||||
|
||||
@@ -62,7 +62,9 @@ uint8 DIST_BOTTOM_SENSOR_FLOW = 2 # (1 << 1) a flow sensor is used to estimate d
|
||||
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 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)
|
||||
|
||||
@@ -1,8 +1,9 @@
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float32 roll # body angular rates in NED frame
|
||||
float32 pitch # body angular rates in NED frame
|
||||
float32 yaw # body angular rates in NED frame
|
||||
# body angular rates in NED 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.
|
||||
|
||||
+88
-92
@@ -1,5 +1,11 @@
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
# Encodes the system state of the vehicle published by commander
|
||||
|
||||
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_INIT = 0
|
||||
uint8 ARMING_STATE_STANDBY = 1
|
||||
uint8 ARMING_STATE_ARMED = 2
|
||||
@@ -8,93 +14,8 @@ uint8 ARMING_STATE_SHUTDOWN = 4
|
||||
uint8 ARMING_STATE_IN_AIR_RESTORE = 5
|
||||
uint8 ARMING_STATE_MAX = 6
|
||||
|
||||
# FailureDetector 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)
|
||||
|
||||
# HIL
|
||||
uint8 HIL_STATE_OFF = 0
|
||||
uint8 HIL_STATE_ON = 1
|
||||
|
||||
# Navigation state, i.e. "what should vehicle do".
|
||||
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_UNUSED3 = 8 # Free slot
|
||||
uint8 NAVIGATION_STATE_UNUSED = 9 # Free slot
|
||||
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
|
||||
uint8 NAVIGATION_STATE_UNUSED1 = 11 # Free slot
|
||||
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_UNUSED2 = 16 # Free slot
|
||||
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_MAX = 23
|
||||
|
||||
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
|
||||
|
||||
# state machine / state of vehicle.
|
||||
# Encodes the complete system state and is set by the commander app.
|
||||
|
||||
uint8 nav_state # set navigation state machine to specified value
|
||||
uint64 nav_state_timestamp # time when current nav_state activated
|
||||
uint8 arming_state # current arming state
|
||||
uint8 hil_state # current hil state
|
||||
bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
|
||||
uint64 failsafe_timestamp # time when failsafe was activated
|
||||
|
||||
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
|
||||
|
||||
uint8 vehicle_type # Type of vehicle (rotary wing/fixed-wing/rover/airship, see above)
|
||||
# If the vehicle is a VTOL, then this value will be VEHICLE_TYPE_ROTARY_WING while flying as a multicopter,
|
||||
# and VEHICLE_TYPE_FIXED_WING when flying as a fixed-wing
|
||||
|
||||
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
|
||||
|
||||
bool rc_signal_lost # true if RC reception lost
|
||||
|
||||
bool data_link_lost # datalink to GCS lost
|
||||
uint8 data_link_lost_counter # counts unique data link 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
|
||||
|
||||
bool mission_failure # Set to true if mission could not continue/finish
|
||||
bool geofence_violated
|
||||
|
||||
uint16 failure_detector_status # Bitmask containing FailureDetector status [0, 0, 0, 0, 0, FAILURE_ALT, FAILURE_PITCH, FAILURE_ROLL]
|
||||
|
||||
# see SYS_STATUS mavlink message for the following
|
||||
# lower 32 bits are for the base flags, higher 32 bits are or the extended flags
|
||||
uint64 onboard_control_sensors_present
|
||||
uint64 onboard_control_sensors_enabled
|
||||
uint64 onboard_control_sensors_health
|
||||
|
||||
|
||||
uint8 latest_arming_reason
|
||||
uint8 latest_disarming_reason
|
||||
uint8 ARM_DISARM_REASON_TRANSITION_TO_STANDBY = 0
|
||||
uint8 ARM_DISARM_REASON_RC_STICK = 1
|
||||
uint8 ARM_DISARM_REASON_RC_SWITCH = 2
|
||||
@@ -110,12 +31,87 @@ uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11
|
||||
uint8 ARM_DISARM_REASON_SHUTDOWN = 12
|
||||
uint8 ARM_DISARM_REASON_UNIT_TEST = 13
|
||||
|
||||
uint8 latest_arming_reason
|
||||
uint8 latest_disarming_reason
|
||||
uint64 nav_state_timestamp # time when current nav_state activated
|
||||
|
||||
uint64 armed_time # Arming timestamp (microseconds)
|
||||
# Navigation state "what should vehicle do"
|
||||
uint8 nav_state
|
||||
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_UNUSED3 = 8 # Free slot
|
||||
uint8 NAVIGATION_STATE_UNUSED = 9 # Free slot
|
||||
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
|
||||
uint8 NAVIGATION_STATE_UNUSED4 = 11 # Free slot
|
||||
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_UNUSED2 = 16 # Free slot
|
||||
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_INIT = 23
|
||||
uint8 NAVIGATION_STATE_MAX = 24
|
||||
|
||||
uint64 takeoff_time # Takeoff timestamp (microseconds)
|
||||
# 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
|
||||
|
||||
bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
|
||||
uint64 failsafe_timestamp # time when failsafe was activated
|
||||
bool failsafe_but_user_took_over
|
||||
|
||||
# Link loss
|
||||
bool rc_signal_lost # true if RC reception lost
|
||||
bool data_link_lost # datalink to GCS lost
|
||||
uint8 data_link_lost_counter # counts unique data link 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
|
||||
|
||||
bool mission_failure # Set to true if mission could not continue/finish
|
||||
bool geofence_violated
|
||||
|
||||
# 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
|
||||
|
||||
# see SYS_STATUS mavlink message for the following
|
||||
# lower 32 bits are for the base flags, higher 32 bits are or the extended flags
|
||||
uint64 onboard_control_sensors_present
|
||||
uint64 onboard_control_sensors_enabled
|
||||
uint64 onboard_control_sensors_health
|
||||
|
||||
bool safety_button_available # Set to true if a safety button is connected
|
||||
bool safety_off # Set to true if safety is off
|
||||
|
||||
@@ -33,6 +33,9 @@ bool circuit_breaker_engaged_usb_check
|
||||
bool circuit_breaker_engaged_posfailure_check # set to true when the position valid checks have been disabled
|
||||
bool circuit_breaker_vtol_fw_arming_check # set to true if for VTOLs arming in fixed-wing mode should be allowed
|
||||
|
||||
bool max_flight_time_exceeded # set to true if the flight time (time since last arming) is above limit
|
||||
bool max_wind_speed_exceeded # set to true if the currently measured wind speed is above limit
|
||||
|
||||
bool offboard_control_signal_lost
|
||||
|
||||
bool rc_signal_found_once
|
||||
@@ -45,5 +48,11 @@ bool sd_card_detected_once # set to true if the SD card w
|
||||
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 onboard_logging_system_required # Set to true if logging system is required for arming via the COM_ARM_WO_OBLOG parameter
|
||||
bool onboard_logging_system_valid # Status of the onboard logging system
|
||||
|
||||
bool parachute_system_present
|
||||
bool parachute_system_healthy
|
||||
|
||||
bool open_drone_id_system_present
|
||||
bool open_drone_id_system_healthy
|
||||
Reference in New Issue
Block a user