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autogenerated headers for rev... 

autogenerated headers for rev https://github.com/mavlink/mavlink/tree/a31cd350d4c2046f2378fe64bb7b3da1cfa829f4
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ASLUAV/ASLUAV.h
View file @ 2c4b0e9f
......@@ -53,7 +53,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius in meters. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */
MAV_CMD_DO_FOLLOW=32, /* Being following a target |System ID (the system ID of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode| RESERVED| RESERVED| altitude flag: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home| altitude| RESERVED| TTL in seconds in which the MAV should go to the default position hold mode after a message rx timeout| */
MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target (m)| X offset from target (m)| Y offset from target (m)| */
MAV_CMD_DO_ORBIT=34, /* WIP: Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle in meters. positive: Orbit clockwise. negative: Orbit counter-clockwise. | Velocity tangential in m/s. NaN: Vehicle configuration default.| Yaw behaviour of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (AMSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle in meters. positive: Orbit clockwise. negative: Orbit counter-clockwise. | Velocity tangential in m/s. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (AMSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_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)| Waypoint 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| */
MAV_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| */
MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
......@@ -123,21 +123,21 @@ typedef enum MAV_CMD
MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES=520, /* Request autopilot capabilities |1: Request autopilot version| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |0: No Action 1: Request camera settings| Reserved (all remaining params)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* WIP: Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| */
MAV_CMD_STORAGE_FORMAT=526, /* WIP: Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| */
MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |0: No Action 1: Request camera capture status| Reserved (all remaining params)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* WIP: Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| */
MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |0: No Action 1: Reset all settings| Reserved (all remaining params)| */
MAV_CMD_SET_CAMERA_MODE=530, /* Set camera running mode. Use NAN for reserved values. |Reserved (Set to 0)| Camera mode (see CAMERA_MODE enum)| Reserved (all remaining params)| */
MAV_CMD_IMAGE_START_CAPTURE=2000, /* Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NAN for reserved values. |Reserved (Set to 0)| Duration between two consecutive pictures (in seconds)| Number of images to capture total - 0 for unlimited capture| Capture sequence (ID to prevent double captures when a command is retransmitted, 0: unused, >= 1: used)| Reserved (all remaining params)| */
MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NAN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* WIP: Re-request a CAMERA_IMAGE_CAPTURE packet. Use NAN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE packet| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE packet. Use NAN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE packet| Reserved (all remaining params)| */
MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 1 to reset the trigger sequence, -1 or 0 to ignore| 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NAN for reserved values. |Reserved (Set to 0)| Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency in Hz)| Reserved (all remaining params)| */
MAV_CMD_VIDEO_STOP_CAPTURE=2501, /* Stop the current video capture (recording). Use NAN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* WIP: Start video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* WIP: Stop the current video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* WIP: Request video stream information (VIDEO_STREAM_INFORMATION) |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| 0: No Action 1: Request video stream information| Reserved (all remaining params)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the current video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| 0: No Action 1: Request video stream information| Reserved (all remaining params)| */
MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |Format: 0: ULog| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_AIRFRAME_CONFIGURATION=2520, /* |Landing gear ID (default: 0, -1 for all)| Landing gear position (Down: 0, Up: 1, NAN for no change)| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| */
......@@ -150,7 +150,7 @@ typedef enum MAV_CMD
| */
MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE=4001, /* This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
|Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| */
MAV_CMD_CONDITION_GATE=4501, /* WIP: Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.
......
ardupilotmega/ardupilotmega.h
View file @ 2c4b0e9f
......@@ -70,7 +70,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius in meters. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */
MAV_CMD_DO_FOLLOW=32, /* Being following a target |System ID (the system ID of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode| RESERVED| RESERVED| altitude flag: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home| altitude| RESERVED| TTL in seconds in which the MAV should go to the default position hold mode after a message rx timeout| */
MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target (m)| X offset from target (m)| Y offset from target (m)| */
MAV_CMD_DO_ORBIT=34, /* WIP: Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle in meters. positive: Orbit clockwise. negative: Orbit counter-clockwise. | Velocity tangential in m/s. NaN: Vehicle configuration default.| Yaw behaviour of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (AMSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle in meters. positive: Orbit clockwise. negative: Orbit counter-clockwise. | Velocity tangential in m/s. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (AMSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_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)| Waypoint 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| */
MAV_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| */
MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
......@@ -143,21 +143,21 @@ typedef enum MAV_CMD
MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES=520, /* Request autopilot capabilities |1: Request autopilot version| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |0: No Action 1: Request camera settings| Reserved (all remaining params)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* WIP: Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| */
MAV_CMD_STORAGE_FORMAT=526, /* WIP: Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| */
MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |0: No Action 1: Request camera capture status| Reserved (all remaining params)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* WIP: Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| */
MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |0: No Action 1: Reset all settings| Reserved (all remaining params)| */
MAV_CMD_SET_CAMERA_MODE=530, /* Set camera running mode. Use NAN for reserved values. |Reserved (Set to 0)| Camera mode (see CAMERA_MODE enum)| Reserved (all remaining params)| */
MAV_CMD_IMAGE_START_CAPTURE=2000, /* Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NAN for reserved values. |Reserved (Set to 0)| Duration between two consecutive pictures (in seconds)| Number of images to capture total - 0 for unlimited capture| Capture sequence (ID to prevent double captures when a command is retransmitted, 0: unused, >= 1: used)| Reserved (all remaining params)| */
MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NAN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* WIP: Re-request a CAMERA_IMAGE_CAPTURE packet. Use NAN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE packet| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE packet. Use NAN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE packet| Reserved (all remaining params)| */
MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 1 to reset the trigger sequence, -1 or 0 to ignore| 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NAN for reserved values. |Reserved (Set to 0)| Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency in Hz)| Reserved (all remaining params)| */
MAV_CMD_VIDEO_STOP_CAPTURE=2501, /* Stop the current video capture (recording). Use NAN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* WIP: Start video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* WIP: Stop the current video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* WIP: Request video stream information (VIDEO_STREAM_INFORMATION) |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| 0: No Action 1: Request video stream information| Reserved (all remaining params)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the current video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| 0: No Action 1: Request video stream information| Reserved (all remaining params)| */
MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |Format: 0: ULog| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_AIRFRAME_CONFIGURATION=2520, /* |Landing gear ID (default: 0, -1 for all)| Landing gear position (Down: 0, Up: 1, NAN for no change)| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| */
......@@ -170,7 +170,7 @@ typedef enum MAV_CMD
| */
MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE=4001, /* This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
|Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| */
MAV_CMD_CONDITION_GATE=4501, /* WIP: Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.
......
autoquad/autoquad.h
View file @ 2c4b0e9f
......@@ -97,7 +97,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius in meters. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */
MAV_CMD_DO_FOLLOW=32, /* Being following a target |System ID (the system ID of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode| RESERVED| RESERVED| altitude flag: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home| altitude| RESERVED| TTL in seconds in which the MAV should go to the default position hold mode after a message rx timeout| */
MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target (m)| X offset from target (m)| Y offset from target (m)| */
MAV_CMD_DO_ORBIT=34, /* WIP: Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle in meters. positive: Orbit clockwise. negative: Orbit counter-clockwise. | Velocity tangential in m/s. NaN: Vehicle configuration default.| Yaw behaviour of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (AMSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle in meters. positive: Orbit clockwise. negative: Orbit counter-clockwise. | Velocity tangential in m/s. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (AMSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_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)| Waypoint 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| */
MAV_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| */
MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
......@@ -167,21 +167,21 @@ typedef enum MAV_CMD
MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES=520, /* Request autopilot capabilities |1: Request autopilot version| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |0: No Action 1: Request camera settings| Reserved (all remaining params)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* WIP: Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| */
MAV_CMD_STORAGE_FORMAT=526, /* WIP: Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| */
MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |0: No Action 1: Request camera capture status| Reserved (all remaining params)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* WIP: Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| */
MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |0: No Action 1: Reset all settings| Reserved (all remaining params)| */
MAV_CMD_SET_CAMERA_MODE=530, /* Set camera running mode. Use NAN for reserved values. |Reserved (Set to 0)| Camera mode (see CAMERA_MODE enum)| Reserved (all remaining params)| */
MAV_CMD_IMAGE_START_CAPTURE=2000, /* Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NAN for reserved values. |Reserved (Set to 0)| Duration between two consecutive pictures (in seconds)| Number of images to capture total - 0 for unlimited capture| Capture sequence (ID to prevent double captures when a command is retransmitted, 0: unused, >= 1: used)| Reserved (all remaining params)| */
MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NAN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* WIP: Re-request a CAMERA_IMAGE_CAPTURE packet. Use NAN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE packet| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE packet. Use NAN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE packet| Reserved (all remaining params)| */
MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 1 to reset the trigger sequence, -1 or 0 to ignore| 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NAN for reserved values. |Reserved (Set to 0)| Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency in Hz)| Reserved (all remaining params)| */
MAV_CMD_VIDEO_STOP_CAPTURE=2501, /* Stop the current video capture (recording). Use NAN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* WIP: Start video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* WIP: Stop the current video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* WIP: Request video stream information (VIDEO_STREAM_INFORMATION) |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| 0: No Action 1: Request video stream information| Reserved (all remaining params)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the current video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| 0: No Action 1: Request video stream information| Reserved (all remaining params)| */
MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |Format: 0: ULog| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_AIRFRAME_CONFIGURATION=2520, /* |Landing gear ID (default: 0, -1 for all)| Landing gear position (Down: 0, Up: 1, NAN for no change)| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| */
......@@ -194,7 +194,7 @@ typedef enum MAV_CMD
| */
MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE=4001, /* This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
|Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| */
MAV_CMD_CONDITION_GATE=4501, /* WIP: Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.
......
common/common.h
View file @ 2c4b0e9f
......@@ -445,7 +445,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius in meters. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */
MAV_CMD_DO_FOLLOW=32, /* Being following a target |System ID (the system ID of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode| RESERVED| RESERVED| altitude flag: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home| altitude| RESERVED| TTL in seconds in which the MAV should go to the default position hold mode after a message rx timeout| */
MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target (m)| X offset from target (m)| Y offset from target (m)| */
MAV_CMD_DO_ORBIT=34, /* WIP: Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle in meters. positive: Orbit clockwise. negative: Orbit counter-clockwise. | Velocity tangential in m/s. NaN: Vehicle configuration default.| Yaw behaviour of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (AMSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle in meters. positive: Orbit clockwise. negative: Orbit counter-clockwise. | Velocity tangential in m/s. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (AMSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_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)| Waypoint 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| */
MAV_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| */
MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
......@@ -515,21 +515,21 @@ typedef enum MAV_CMD
MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES=520, /* Request autopilot capabilities |1: Request autopilot version| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |0: No Action 1: Request camera settings| Reserved (all remaining params)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* WIP: Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| */
MAV_CMD_STORAGE_FORMAT=526, /* WIP: Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| */
MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |0: No Action 1: Request camera capture status| Reserved (all remaining params)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* WIP: Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| */
MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |0: No Action 1: Reset all settings| Reserved (all remaining params)| */
MAV_CMD_SET_CAMERA_MODE=530, /* Set camera running mode. Use NAN for reserved values. |Reserved (Set to 0)| Camera mode (see CAMERA_MODE enum)| Reserved (all remaining params)| */
MAV_CMD_IMAGE_START_CAPTURE=2000, /* Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NAN for reserved values. |Reserved (Set to 0)| Duration between two consecutive pictures (in seconds)| Number of images to capture total - 0 for unlimited capture| Capture sequence (ID to prevent double captures when a command is retransmitted, 0: unused, >= 1: used)| Reserved (all remaining params)| */
MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NAN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* WIP: Re-request a CAMERA_IMAGE_CAPTURE packet. Use NAN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE packet| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE packet. Use NAN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE packet| Reserved (all remaining params)| */
MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 1 to reset the trigger sequence, -1 or 0 to ignore| 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NAN for reserved values. |Reserved (Set to 0)| Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency in Hz)| Reserved (all remaining params)| */
MAV_CMD_VIDEO_STOP_CAPTURE=2501, /* Stop the current video capture (recording). Use NAN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* WIP: Start video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* WIP: Stop the current video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* WIP: Request video stream information (VIDEO_STREAM_INFORMATION) |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| 0: No Action 1: Request video stream information| Reserved (all remaining params)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the current video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| 0: No Action 1: Request video stream information| Reserved (all remaining params)| */
MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |Format: 0: ULog| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_AIRFRAME_CONFIGURATION=2520, /* |Landing gear ID (default: 0, -1 for all)| Landing gear position (Down: 0, Up: 1, NAN for no change)| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| */
......@@ -542,7 +542,7 @@ typedef enum MAV_CMD
| */
MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE=4001, /* This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
|Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| */
MAV_CMD_CONDITION_GATE=4501, /* WIP: Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.
......
matrixpilot/matrixpilot.h
View file @ 2c4b0e9f
......@@ -70,7 +70,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius in meters. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */
MAV_CMD_DO_FOLLOW=32, /* Being following a target |System ID (the system ID of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode| RESERVED| RESERVED| altitude flag: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home| altitude| RESERVED| TTL in seconds in which the MAV should go to the default position hold mode after a message rx timeout| */
MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target (m)| X offset from target (m)| Y offset from target (m)| */
MAV_CMD_DO_ORBIT=34, /* WIP: Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle in meters. positive: Orbit clockwise. negative: Orbit counter-clockwise. | Velocity tangential in m/s. NaN: Vehicle configuration default.| Yaw behaviour of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (AMSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle in meters. positive: Orbit clockwise. negative: Orbit counter-clockwise. | Velocity tangential in m/s. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (AMSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_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)| Waypoint 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| */
MAV_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| */
MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
......@@ -140,21 +140,21 @@ typedef enum MAV_CMD
MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES=520, /* Request autopilot capabilities |1: Request autopilot version| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |0: No Action 1: Request camera settings| Reserved (all remaining params)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* WIP: Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| */
MAV_CMD_STORAGE_FORMAT=526, /* WIP: Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| */
MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |0: No Action 1: Request camera capture status| Reserved (all remaining params)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* WIP: Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| */
MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |0: No Action 1: Reset all settings| Reserved (all remaining params)| */
MAV_CMD_SET_CAMERA_MODE=530, /* Set camera running mode. Use NAN for reserved values. |Reserved (Set to 0)| Camera mode (see CAMERA_MODE enum)| Reserved (all remaining params)| */
MAV_CMD_IMAGE_START_CAPTURE=2000, /* Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NAN for reserved values. |Reserved (Set to 0)| Duration between two consecutive pictures (in seconds)| Number of images to capture total - 0 for unlimited capture| Capture sequence (ID to prevent double captures when a command is retransmitted, 0: unused, >= 1: used)| Reserved (all remaining params)| */
MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NAN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* WIP: Re-request a CAMERA_IMAGE_CAPTURE packet. Use NAN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE packet| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE packet. Use NAN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE packet| Reserved (all remaining params)| */
MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 1 to reset the trigger sequence, -1 or 0 to ignore| 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NAN for reserved values. |Reserved (Set to 0)| Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency in Hz)| Reserved (all remaining params)| */
MAV_CMD_VIDEO_STOP_CAPTURE=2501, /* Stop the current video capture (recording). Use NAN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* WIP: Start video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* WIP: Stop the current video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* WIP: Request video stream information (VIDEO_STREAM_INFORMATION) |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| 0: No Action 1: Request video stream information| Reserved (all remaining params)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the current video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| 0: No Action 1: Request video stream information| Reserved (all remaining params)| */
MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |Format: 0: ULog| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_AIRFRAME_CONFIGURATION=2520, /* |Landing gear ID (default: 0, -1 for all)| Landing gear position (Down: 0, Up: 1, NAN for no change)| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| */
......@@ -167,7 +167,7 @@ typedef enum MAV_CMD
| */
MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE=4001, /* This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
|Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| */
MAV_CMD_CONDITION_GATE=4501, /* WIP: Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.
......
message_definitions/common.xml
View file @ 2c4b0e9f
......@@ -887,10 +887,12 @@
<param index="7">Y offset from target (m)</param>
</entry>
<entry value="34" name="MAV_CMD_DO_ORBIT">
<description>WIP: Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults.</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults.</description>
<param index="1">Radius of the circle in meters. positive: Orbit clockwise. negative: Orbit counter-clockwise. </param>
<param index="2">Velocity tangential in m/s. NaN: Vehicle configuration default.</param>
<param index="3">Yaw behaviour of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.</param>
<param index="3">Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.</param>
<param index="4">Reserved (e.g. for dynamic center beacon options)</param>
<param index="5">Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.</param>
<param index="6">Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.</param>
......@@ -1551,13 +1553,17 @@
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="525" name="MAV_CMD_REQUEST_STORAGE_INFORMATION">
<description>WIP: Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.</description>
<param index="1">Storage ID (0 for all, 1 for first, 2 for second, etc.)</param>
<param index="2">0: No Action 1: Request storage information</param>
<param index="3">Reserved (all remaining params)</param>
</entry>
<entry value="526" name="MAV_CMD_STORAGE_FORMAT">
<description>WIP: Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage.</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage.</description>
<param index="1">Storage ID (1 for first, 2 for second, etc.)</param>
<param index="2">0: No action 1: Format storage</param>
<param index="3">Reserved (all remaining params)</param>
......@@ -1568,7 +1574,9 @@
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="528" name="MAV_CMD_REQUEST_FLIGHT_INFORMATION">
<description>WIP: Request flight information (FLIGHT_INFORMATION)</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Request flight information (FLIGHT_INFORMATION)</description>
<param index="1">1: Request flight information</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
......@@ -1597,7 +1605,9 @@
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="2002" name="MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE">
<description>WIP: Re-request a CAMERA_IMAGE_CAPTURE packet. Use NAN for reserved values.</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Re-request a CAMERA_IMAGE_CAPTURE packet. Use NAN for reserved values.</description>
<param index="1">Sequence number for missing CAMERA_IMAGE_CAPTURE packet</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
......@@ -1619,17 +1629,23 @@
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="2502" name="MAV_CMD_VIDEO_START_STREAMING">
<description>WIP: Start video streaming</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Start video streaming</description>
<param index="1">Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)</param>
<param index="2">Reserved</param>
</entry>
<entry value="2503" name="MAV_CMD_VIDEO_STOP_STREAMING">
<description>WIP: Stop the current video streaming</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Stop the current video streaming</description>
<param index="1">Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)</param>
<param index="2">Reserved</param>
</entry>
<entry value="2504" name="MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION">
<description>WIP: Request video stream information (VIDEO_STREAM_INFORMATION)</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Request video stream information (VIDEO_STREAM_INFORMATION)</description>
<param index="1">Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)</param>
<param index="2">0: No Action 1: Request video stream information</param>
<param index="3">Reserved (all remaining params)</param>
......@@ -1700,7 +1716,9 @@
<param index="6">Unscaled target longitude of center of circle in CIRCLE_MODE</param>
</entry>
<entry value="4501" name="MAV_CMD_CONDITION_GATE">
<description>WIP: Delay mission state machine until gate has been reached.</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Delay mission state machine until gate has been reached.</description>
<param index="1">Geometry: 0: orthogonal to path between previous and next waypoint.</param>
<param index="2">Altitude: 0: ignore altitude</param>
<param index="3">Empty</param>
......@@ -3421,6 +3439,7 @@
</message>
<message id="66" name="REQUEST_DATA_STREAM">
<deprecated since="2015-08" replaced_by="SET_MESSAGE_INTERVAL"/>
<description>Request a data stream.</description>
<field type="uint8_t" name="target_system">The target requested to send the message stream.</field>
<field type="uint8_t" name="target_component">The target requested to send the message stream.</field>
<field type="uint8_t" name="req_stream_id">The ID of the requested data stream</field>
......@@ -3429,6 +3448,7 @@
</message>
<message id="67" name="DATA_STREAM">
<deprecated since="2015-08" replaced_by="MESSAGE_INTERVAL"/>
<description>Data stream status information.</description>
<field type="uint8_t" name="stream_id">The ID of the requested data stream</field>
<field type="uint16_t" name="message_rate" units="Hz">The message rate</field>
<field type="uint8_t" name="on_off">1 stream is enabled, 0 stream is stopped.</field>
......@@ -4322,7 +4342,9 @@
<field type="uint16_t" name="wp_distance" units="m">distance to target</field>
</message>
<message id="235" name="HIGH_LATENCY2">
<description>WIP: Message appropriate for high latency connections like Iridium (version 2)</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Message appropriate for high latency connections like Iridium (version 2)</description>
<field type="uint32_t" name="timestamp" units="ms">Timestamp (milliseconds since boot or Unix epoch)</field>
<field type="uint8_t" name="type" enum="MAV_TYPE">Type of the MAV (quadrotor, helicopter, etc.)</field>
<field type="uint8_t" name="autopilot" enum="MAV_AUTOPILOT">Autopilot type / class.</field>
......@@ -4444,6 +4466,7 @@
<field type="int8_t[32]" name="value">Memory contents at specified address</field>
</message>
<message id="250" name="DEBUG_VECT">
<description>To debug something using a named 3D vector.</description>
<field type="char[10]" name="name">Name</field>
<field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.</field>
<field type="float" name="x">x</field>
......@@ -4515,7 +4538,9 @@
<field type="uint8_t" name="mode_id" enum="CAMERA_MODE">Camera mode</field>
</message>
<message id="261" name="STORAGE_INFORMATION">
<description>WIP: Information about a storage medium.</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Information about a storage medium.</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint8_t" name="storage_id">Storage ID (1 for first, 2 for second, etc.)</field>
<field type="uint8_t" name="storage_count">Number of storage devices</field>
......@@ -4550,7 +4575,9 @@
<field type="char[205]" name="file_url">URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.</field>
</message>
<message id="264" name="FLIGHT_INFORMATION">
<description>WIP: Information about flight since last arming</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Information about flight since last arming.</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint64_t" name="arming_time_utc" units="us">Timestamp at arming (time since UNIX epoch) in UTC, 0 for unknown</field>
<field type="uint64_t" name="takeoff_time_utc" units="us">Timestamp at takeoff (time since UNIX epoch) in UTC, 0 for unknown</field>
......@@ -4590,7 +4617,9 @@
<field type="uint16_t" name="sequence">sequence number (must match the one in LOGGING_DATA_ACKED)</field>
</message>
<message id="269" name="VIDEO_STREAM_INFORMATION">
<description>WIP: Information about video stream</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Information about video stream</description>
<field type="uint8_t" name="camera_id">Camera ID (1 for first, 2 for second, etc.)</field>
<field type="uint8_t" name="status">Current status of video streaming (0: not running, 1: in progress)</field>
<field type="float" name="framerate" units="Hz">Frame rate</field>
......@@ -4601,7 +4630,9 @@
<field type="char[230]" name="uri">Video stream URI</field>
</message>
<message id="270" name="SET_VIDEO_STREAM_SETTINGS">
<description>WIP: Message that sets video stream settings</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Message that sets video stream settings</description>
<field type="uint8_t" name="target_system">system ID of the target</field>
<field type="uint8_t" name="target_component">component ID of the target</field>
<field type="uint8_t" name="camera_id">Camera ID (1 for first, 2 for second, etc.)</field>
......@@ -4618,7 +4649,9 @@
<field type="char[64]" name="password">Password. Leave it blank for an open AP.</field>
</message>
<message id="300" name="PROTOCOL_VERSION">
<description>WIP: Version and capability of protocol version. This message is the response to REQUEST_PROTOCOL_VERSION and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to REQUEST_PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Version and capability of protocol version. This message is the response to REQUEST_PROTOCOL_VERSION and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to REQUEST_PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.</description>
<field type="uint16_t" name="version">Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.</field>
<field type="uint16_t" name="min_version">Minimum MAVLink version supported</field>
<field type="uint16_t" name="max_version">Maximum MAVLink version supported (set to the same value as version by default)</field>
......@@ -4710,7 +4743,9 @@
<field type="float[21]" name="twist_covariance">Twist (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)</field>
</message>
<message id="332" name="TRAJECTORY_REPRESENTATION_WAYPOINTS">
<description>WORK IN PROGRESS! DO NOT DEPLOY! Describe a trajectory using an array of up-to 5 waypoints in the local frame.</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Describe a trajectory using an array of up-to 5 waypoints in the local frame.</description>
<field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.</field>
<field type="uint8_t" name="valid_points">Number of valid points (up-to 5 waypoints are possible)</field>
<field type="float[5]" name="pos_x" units="m">X-coordinate of waypoint, set to NaN if not being used</field>
......@@ -4726,7 +4761,9 @@
<field type="float[5]" name="vel_yaw" units="rad/s">Yaw rate, set to NaN if not being used</field>
</message>
<message id="333" name="TRAJECTORY_REPRESENTATION_BEZIER">
<description>WORK IN PROGRESS! DO NOT DEPLOY! Describe a trajectory using an array of up-to 5 bezier points in the local frame.</description>
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Describe a trajectory using an array of up-to 5 bezier points in the local frame.</description>
<field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.</field>
<field type="uint8_t" name="valid_points">Number of valid points (up-to 5 waypoints are possible)</field>
<field type="float[5]" name="pos_x" units="m">X-coordinate of starting bezier point, set to NaN if not being used</field>
......
slugs/slugs.h
View file @ 2c4b0e9f
......@@ -53,7 +53,7 @@ typedef enum MAV_CMD
MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius in meters. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */
MAV_CMD_DO_FOLLOW=32, /* Being following a target |System ID (the system ID of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode| RESERVED| RESERVED| altitude flag: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home| altitude| RESERVED| TTL in seconds in which the MAV should go to the default position hold mode after a message rx timeout| */
MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target (m)| X offset from target (m)| Y offset from target (m)| */
MAV_CMD_DO_ORBIT=34, /* WIP: Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle in meters. positive: Orbit clockwise. negative: Orbit counter-clockwise. | Velocity tangential in m/s. NaN: Vehicle configuration default.| Yaw behaviour of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (AMSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |Radius of the circle in meters. positive: Orbit clockwise. negative: Orbit counter-clockwise. | Velocity tangential in m/s. NaN: Vehicle configuration default.| Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| Reserved (e.g. for dynamic center beacon options)| Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| Center point altitude (AMSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| */
MAV_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)| Waypoint 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| */
MAV_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| */
MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
......@@ -123,21 +123,21 @@ typedef enum MAV_CMD
MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES=520, /* Request autopilot capabilities |1: Request autopilot version| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |0: No Action 1: Request camera settings| Reserved (all remaining params)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* WIP: Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| */
MAV_CMD_STORAGE_FORMAT=526, /* WIP: Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| */
MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |Storage ID (0 for all, 1 for first, 2 for second, etc.)| 0: No Action 1: Request storage information| Reserved (all remaining params)| */
MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |Storage ID (1 for first, 2 for second, etc.)| 0: No action 1: Format storage| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |0: No Action 1: Request camera capture status| Reserved (all remaining params)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* WIP: Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| */
MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: Request flight information| Reserved (all remaining params)| */
MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |0: No Action 1: Reset all settings| Reserved (all remaining params)| */
MAV_CMD_SET_CAMERA_MODE=530, /* Set camera running mode. Use NAN for reserved values. |Reserved (Set to 0)| Camera mode (see CAMERA_MODE enum)| Reserved (all remaining params)| */
MAV_CMD_IMAGE_START_CAPTURE=2000, /* Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NAN for reserved values. |Reserved (Set to 0)| Duration between two consecutive pictures (in seconds)| Number of images to capture total - 0 for unlimited capture| Capture sequence (ID to prevent double captures when a command is retransmitted, 0: unused, >= 1: used)| Reserved (all remaining params)| */
MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NAN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* WIP: Re-request a CAMERA_IMAGE_CAPTURE packet. Use NAN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE packet| Reserved (all remaining params)| */
MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE packet. Use NAN for reserved values. |Sequence number for missing CAMERA_IMAGE_CAPTURE packet| Reserved (all remaining params)| */
MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 1 to reset the trigger sequence, -1 or 0 to ignore| 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| */
MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NAN for reserved values. |Reserved (Set to 0)| Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency in Hz)| Reserved (all remaining params)| */
MAV_CMD_VIDEO_STOP_CAPTURE=2501, /* Stop the current video capture (recording). Use NAN for reserved values. |Reserved (Set to 0)| Reserved (all remaining params)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* WIP: Start video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* WIP: Stop the current video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* WIP: Request video stream information (VIDEO_STREAM_INFORMATION) |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| 0: No Action 1: Request video stream information| Reserved (all remaining params)| */
MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the current video streaming |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| Reserved| */
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)| 0: No Action 1: Request video stream information| Reserved (all remaining params)| */
MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |Format: 0: ULog| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| Reserved (set to 0)| */
MAV_CMD_AIRFRAME_CONFIGURATION=2520, /* |Landing gear ID (default: 0, -1 for all)| Landing gear position (Down: 0, Up: 1, NAN for no change)| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| Reserved, set to NAN| */
......@@ -150,7 +150,7 @@ typedef enum MAV_CMD
| */
MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE=4001, /* This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
|Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| */
MAV_CMD_CONDITION_GATE=4501, /* WIP: Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |Geometry: 0: orthogonal to path between previous and next waypoint.| Altitude: 0: ignore altitude| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
|Reserved| Reserved| Reserved| Reserved| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION=5001, /* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.
......
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