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33 lines
2.1 KiB
Markdown
33 lines
2.1 KiB
Markdown
# MavlinkTunnel (UORB message)
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MAV_TUNNEL_PAYLOAD_TYPE enum
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MavlinkTunnel.msg)
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```c
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# MAV_TUNNEL_PAYLOAD_TYPE enum
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uint8 MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN = 0 # Encoding of payload unknown
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uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 = 200 # Registered for STorM32 gimbal controller
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uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1 = 201 # Registered for STorM32 gimbal controller
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uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2 = 202 # Registered for STorM32 gimbal controller
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uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3 = 203 # Registered for STorM32 gimbal controller
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uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4 = 204 # Registered for STorM32 gimbal controller
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uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5 = 205 # Registered for STorM32 gimbal controller
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uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6 = 206 # Registered for STorM32 gimbal controller
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uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7 = 207 # Registered for STorM32 gimbal controller
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uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8 = 208 # Registered for STorM32 gimbal controller
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uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9 = 209 # Registered for STorM32 gimbal controller
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uint64 timestamp # Time since system start (microseconds)
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uint16 payload_type # A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
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uint8 target_system # System ID (can be 0 for broadcast, but this is discouraged)
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uint8 target_component # Component ID (can be 0 for broadcast, but this is discouraged)
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uint8 payload_length # Length of the data transported in payload
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uint8[128] payload # Data itself
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# Topic aliases for known payload types
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# TOPICS mavlink_tunnel esc_serial_passthru
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```
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