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71 lines
8.2 KiB
Markdown
71 lines
8.2 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# MavlinkTunnel (UORB message)
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MAV_TUNNEL_PAYLOAD_TYPE enum.
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**TOPICS:** mavlink_tunnel esc_serial_passthru io_serial_passthru
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ---------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | Time since system start (microseconds) |
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| payload_type | `uint16` | | | 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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| target_system | `uint8` | | | System ID (can be 0 for broadcast, but this is discouraged) |
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| target_component | `uint8` | | | Component ID (can be 0 for broadcast, but this is discouraged) |
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| payload_length | `uint8` | | | Length of the data transported in payload |
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| payload | `uint8[128]` | | | Data itself |
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## Constants
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| Name | Type | Value | Description |
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| ------------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------- |
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| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN"></a> MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN | `uint8` | 0 | Encoding of payload unknown |
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| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 | `uint8` | 200 | Registered for STorM32 gimbal controller |
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| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1 | `uint8` | 201 | Registered for STorM32 gimbal controller |
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| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2 | `uint8` | 202 | Registered for STorM32 gimbal controller |
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| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3 | `uint8` | 203 | Registered for STorM32 gimbal controller |
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| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4 | `uint8` | 204 | Registered for STorM32 gimbal controller |
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| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5 | `uint8` | 205 | Registered for STorM32 gimbal controller |
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| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6 | `uint8` | 206 | Registered for STorM32 gimbal controller |
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| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7 | `uint8` | 207 | Registered for STorM32 gimbal controller |
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| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8 | `uint8` | 208 | Registered for STorM32 gimbal controller |
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| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9 | `uint8` | 209 | Registered for STorM32 gimbal controller |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MavlinkTunnel.msg)
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::: details Click here to see original file
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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 io_serial_passthru
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```
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:::
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