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38 lines
2.2 KiB
Plaintext
38 lines
2.2 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint32 instance_count # Instance count of this mission. Increments monotonically whenever the mission is modified
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uint16 sequence_current # Sequence of the current mission item
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uint16 nav_cmd
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# Work Item corresponds to the sub-mode set on the "MAV_CMD_DO_SET_MODE" MAVLink message
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uint8 WORK_ITEM_TYPE_DEFAULT = 0 # Default mission item
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uint8 WORK_ITEM_TYPE_TAKEOFF = 1 # Takeoff before moving to waypoint
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uint8 WORK_ITEM_TYPE_MOVE_TO_LAND = 2 # Move to land waypoint before descent
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uint8 WORK_ITEM_TYPE_ALIGN = 3 # Align for next waypoint
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uint8 WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF = 4 # VTOL specific
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uint8 WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION = 5 # VTOL specific
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uint8 WORK_ITEM_TYPE_PRECISION_LAND = 6 # Precision Landing for Multicopters using external aid
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uint8 nav_sub_cmd # Synonymous to "work_item_type" in Navigator. Will be renamed eventually in navigator.
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# sub-command, for example AUTO_PRECLAND in main command AUTO_MISSION
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float32 latitude
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float32 longitude
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float32 time_inside # time that the MAV should stay inside the radius before advancing in seconds
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float32 acceptance_radius # default radius in which the mission is accepted as reached in meters
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float32 loiter_radius # loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise
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float32 yaw # in radians NED -PI..+PI, NAN means don't change yaw
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float32 altitude # altitude in meters (AMSL)
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uint8 frame # mission frame
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uint8 origin # mission item origin (onboard or mavlink)
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bool loiter_exit_xtrack # exit xtrack location: 0 for center of loiter wp, 1 for exit location
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bool force_heading # heading needs to be reached
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bool altitude_is_relative # true if altitude is relative from start point
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bool autocontinue # true if next waypoint should follow after this one
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bool vtol_back_transition # part of the vtol back transition sequence
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