From 7eee510e523c208c9359cbbae0f0942e8056be7c Mon Sep 17 00:00:00 2001 From: Jonathan Challinger Date: Wed, 6 Jan 2016 14:16:40 -0800 Subject: [PATCH] ardupilotmega.xml: merge upstream file --- message_definitions/v1.0/ardupilotmega.xml | 2576 +++++++++++--------- 1 file changed, 1399 insertions(+), 1177 deletions(-) diff --git a/message_definitions/v1.0/ardupilotmega.xml b/message_definitions/v1.0/ardupilotmega.xml index 3ff1bc4..e04c0b1 100644 --- a/message_definitions/v1.0/ardupilotmega.xml +++ b/message_definitions/v1.0/ardupilotmega.xml @@ -1,37 +1,52 @@ - common.xml - - - - - - + common.xml + + + + - Mission command to perform motor test - motor sequence number (a number from 1 to max number of motors on the vehicle) - throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum) - throttle - timeout (in seconds) - Empty - Empty - Empty + Mission command to perform motor test + motor sequence number (a number from 1 to max number of motors on the vehicle) + throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum) + throttle + timeout (in seconds) + Empty + Empty + Empty + - Mission command to operate EPM gripper - gripper number (a number from 1 to max number of grippers on the vehicle) - gripper action (0=release, 1=grab. See GRIPPER_ACTIONS enum) - Empty - Empty - Empty - Empty - Empty + Mission command to operate EPM gripper + gripper number (a number from 1 to max number of grippers on the vehicle) + gripper action (0=release, 1=grab. See GRIPPER_ACTIONS enum) + Empty + Empty + Empty + Empty + Empty + + + + Enable/disable autotune + enable (1: enable, 0:disable) + Empty + Empty + Empty + Empty + Empty + Empty + + + + Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up. + altitude (m) + descent speed (m/s) + Wiggle Time (s) + Empty + Empty + Empty + Empty @@ -45,9 +60,7 @@ Empty - + FLY button has been clicked. Empty @@ -87,10 +100,11 @@ Automatically retry on failure (0=no retry, 1=retry). Save without user input (0=require input, 1=autosave). Delay (seconds) - Empty + Autoreboot (0=user reboot, 1=autoreboot) Empty Empty + Initiate a magnetometer calibration uint8_t bitmask of magnetometers (0 means all) @@ -101,6 +115,7 @@ Empty Empty + Cancel a running magnetometer calibration uint8_t bitmask of magnetometers (0 means all) @@ -123,7 +138,7 @@ Empty - + Causes the gimbal to reset and boot as if it was just powered on Empty Empty @@ -133,7 +148,7 @@ Empty Empty - + Command autopilot to get into factory test/diagnostic mode 0 means get out of test mode, 1 means get into test mode @@ -145,8 +160,8 @@ Empty - - Reports progress and success or failure of gimbal axis calibration procedure + + Reports progress and success or failure of gimbal axis calibration procedure Gimbal axis we're reporting calibration progress for Current calibration progress for this axis, 0x64=100% Status of the calibration @@ -155,8 +170,9 @@ Empty Empty - - Starts commutation calibration on the gimbal + + + Starts commutation calibration on the gimbal Empty Empty Empty @@ -165,8 +181,9 @@ Empty Empty - - Erases gimbal application and parameters + + + Erases gimbal application and parameters Magic number Magic number Magic number @@ -175,912 +192,1125 @@ Magic number Magic number + + + + + + pre-initialization + + + + disabled + + + + checking limits + + + + a limit has been breached + + + + taking action eg. RTL + + + + we're no longer in breach of a limit + + - + + + + pre-initialization + - - - pre-initialization - disabled - checking limits - a limit has been breached - taking action eg. RTL - we're no longer in breach of a limit - + + disabled + - - - pre-initialization - disabled - checking limits - + + checking limits + + - + - Flags in RALLY_POINT message - Flag set when requiring favorable winds for landing. - Flag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land. - - - - - - Disable parachute release - - - Enable parachute release - - - Release parachute - - - - - - - throttle as a percentage from 0 ~ 100 - - - throttle as an absolute PWM value (normally in range of 1000~2000) - - - throttle pass-through from pilot's transmitter - - - - - - Gripper actions. - - gripper release of cargo - - - gripper grabs onto cargo - - - - - - Camera heartbeat, announce camera component ID at 1hz - Camera image triggered - Camera connection lost - Camera unknown error - Camera battery low. Parameter p1 shows reported voltage - Camera storage low. Parameter p1 shows reported shots remaining - Camera storage low. Parameter p1 shows reported video minutes remaining - - - - - Shooting video, not stills - Unable to achieve requested exposure (e.g. shutter speed too low) - Closed loop feedback from camera, we know for sure it has successfully taken a picture - Open loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture - - - - - - Gimbal is powered on but has not started initializing yet - - - Gimbal is currently running calibration on the pitch axis - - - Gimbal is currently running calibration on the roll axis - - - Gimbal is currently running calibration on the yaw axis - - - Gimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter - - - Gimbal is actively stabilizing - - - Gimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command - - - - - - Gimbal yaw axis - - - Gimbal pitch axis - - - Gimbal roll axis - - - - - - Axis calibration is in progress - - - Axis calibration succeeded - - - Axis calibration failed - - - - - - Whether or not this axis requires calibration is unknown at this time - - - This axis requires calibration - - - This axis does not require calibration - - - - - - - No GoPro connected - - - The detected GoPro is not HeroBus compatible - - - A HeroBus compatible GoPro is connected - - - An unrecoverable error was encountered with the connected GoPro, it may require a power cycle - - - - - - - GoPro is currently recording - - - - - - The write message with ID indicated succeeded - - - The write message with ID indicated failed - - - - - - (Get/Set) - - - (Get/Set) - - - (___/Set) - - - (Get/___) - - - (Get/___) - - - (Get/Set) - - - - (Get/Set) - - - (Get/Set) - - - (Get/Set) - - - (Get/Set) - - - (Get/Set) Hero 3+ Only - - - (Get/Set) Hero 3+ Only - - - (Get/Set) Hero 3+ Only - - - (Get/Set) Hero 3+ Only - - - (Get/Set) Hero 3+ Only - - - (Get/Set) - - - - (Get/Set) - - - - - - Video mode - - - Photo mode - - - Burst mode, hero 3+ only - - - Time lapse mode, hero 3+ only - - - Multi shot mode, hero 4 only - - - Playback mode, hero 4 only, silver only except when LCD or HDMI is connected to black - - - Playback mode, hero 4 only - - - Mode not yet known - - - - - - 848 x 480 (480p) - - - 1280 x 720 (720p) - - - 1280 x 960 (960p) - - - 1920 x 1080 (1080p) - - - 1920 x 1440 (1440p) - - - 2704 x 1440 (2.7k-17:9) - - - 2704 x 1524 (2.7k-16:9) - - - 2704 x 2028 (2.7k-4:3) - - - 3840 x 2160 (4k-16:9) - - - 4096 x 2160 (4k-17:9) - - - 1280 x 720 (720p-SuperView) - - - 1920 x 1080 (1080p-SuperView) - - - 2704 x 1520 (2.7k-SuperView) - - - 3840 x 2160 (4k-SuperView) - - - - - - 12 FPS - - - 15 FPS - - - 24 FPS - - - 25 FPS - - - 30 FPS - - - 48 FPS - - - 50 FPS - - - 60 FPS - - - 80 FPS - - - 90 FPS - - - 100 FPS - - - 120 FPS - - - 240 FPS - - - 12.5 FPS - - - - - - 0x00: Wide - - - 0x01: Medium - - - 0x02: Narrow - - - - - - 0=NTSC, 1=PAL - - - - - - 5MP Medium - - - 7MP Medium - - - 7MP Wide - - - 10MP Wide - - - 12MP Wide - - - - - - Auto - - - 3000K - - - 5500K - - - 6500K - - - Camera Raw - - - - - - Auto - - - Neutral - - - - - - ISO 400 - - - ISO 800 (Only Hero 4) - - - ISO 1600 - - - ISO 3200 (Only Hero 4) - - - ISO 6400 - - - - - - Low Sharpness - - - Medium Sharpness - - - High Sharpness - - - - - - -5.0 EV (Hero 3+ Only) - - - -4.5 EV (Hero 3+ Only) - - - -4.0 EV (Hero 3+ Only) - - - -3.5 EV (Hero 3+ Only) - - - -3.0 EV (Hero 3+ Only) - - - -2.5 EV (Hero 3+ Only) - - - -2.0 EV - - - -1.5 EV - - - -1.0 EV - - - -0.5 EV - - - 0.0 EV - - - +0.5 EV - - - +1.0 EV - - - +1.5 EV - - - +2.0 EV - - - +2.5 EV (Hero 3+ Only) - - - +3.0 EV (Hero 3+ Only) - - - +3.5 EV (Hero 3+ Only) - - - +4.0 EV (Hero 3+ Only) - - - +4.5 EV (Hero 3+ Only) - - - +5.0 EV (Hero 3+ Only) - - - - - - Charging disabled - - - Charging enabled - - - - - - Unknown gopro model - - - Hero 3+ Silver (HeroBus not supported by GoPro) - - - Hero 3+ Black - - - Hero 4 Silver - - - Hero 4 Black - - - - - - 3 Shots / 1 Second - - - 5 Shots / 1 Second - - - 10 Shots / 1 Second - - - 10 Shots / 2 Second - - - 10 Shots / 3 Second (Hero 4 Only) - - - 30 Shots / 1 Second - - - 30 Shots / 2 Second - - - 30 Shots / 3 Second - - - 30 Shots / 6 Second - - - - - - LED patterns off (return control to regular vehicle control) - LEDs show pattern during firmware update - Custom Pattern using custom bytes fields - - - - - Flags in EKF_STATUS message - set if EKF's attitude estimate is good - set if EKF's horizontal velocity estimate is good - set if EKF's vertical velocity estimate is good - set if EKF's horizontal position (relative) estimate is good - set if EKF's horizontal position (absolute) estimate is good - set if EKF's vertical position (absolute) estimate is good - set if EKF's vertical position (above ground) estimate is good - EKF is in constant position mode and does not know it's absolute or relative position - set if EKF's predicted horizontal position (relative) estimate is good - set if EKF's predicted horizontal position (absolute) estimate is good - - - - - - - - - - + Flags in RALLY_POINT message + + Flag set when requiring favorable winds for landing. + + + + Flag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land. + + + + + + + Disable parachute release + + + + Enable parachute release + + + + Release parachute + + + + + + + throttle as a percentage from 0 ~ 100 + + + + throttle as an absolute PWM value (normally in range of 1000~2000) + + + + throttle pass-through from pilot's transmitter + + + + + + Gripper actions. + + gripper release of cargo + + + + gripper grabs onto cargo + + + + + + + Camera heartbeat, announce camera component ID at 1hz + + + + Camera image triggered + + + + Camera connection lost + + + + Camera unknown error + + + + Camera battery low. Parameter p1 shows reported voltage + + + + Camera storage low. Parameter p1 shows reported shots remaining + + + + Camera storage low. Parameter p1 shows reported video minutes remaining + + + + + + + Shooting photos, not video + + + + Shooting video, not stills + + + + Unable to achieve requested exposure (e.g. shutter speed too low) + + + + Closed loop feedback from camera, we know for sure it has successfully taken a picture + + + + Open loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture + + + + + + + Gimbal is powered on but has not started initializing yet + + + + Gimbal is currently running calibration on the pitch axis + + + + Gimbal is currently running calibration on the roll axis + + + + Gimbal is currently running calibration on the yaw axis + + + + Gimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter + + + + Gimbal is actively stabilizing + + + + Gimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command + + + + + + Gimbal yaw axis + + + + Gimbal pitch axis + + + + Gimbal roll axis + + + + + + Axis calibration is in progress + + + + Axis calibration succeeded + + + + Axis calibration failed + + + + + + Whether or not this axis requires calibration is unknown at this time + + + + This axis requires calibration + + + + This axis does not require calibration + + + + + + + No GoPro connected + + + + The detected GoPro is not HeroBus compatible + + + + A HeroBus compatible GoPro is connected + + + + An unrecoverable error was encountered with the connected GoPro, it may require a power cycle + + + + + + + GoPro is currently recording + + + + + + The write message with ID indicated succeeded + + + + The write message with ID indicated failed + + + + + + (Get/Set) + + + + (Get/Set) + + + + (___/Set) + + + + (Get/___) + + + + (Get/___) + + + + (Get/Set) + + + + + (Get/Set) + + + + (Get/Set) + + + + (Get/Set) + + + + (Get/Set) + + + + (Get/Set) Hero 3+ Only + + + + (Get/Set) Hero 3+ Only + + + + (Get/Set) Hero 3+ Only + + + + (Get/Set) Hero 3+ Only + + + + (Get/Set) Hero 3+ Only + + + + (Get/Set) + + + + + (Get/Set) + + + + + + Video mode + + + + Photo mode + + + + Burst mode, hero 3+ only + + + + Time lapse mode, hero 3+ only + + + + Multi shot mode, hero 4 only + + + + Playback mode, hero 4 only, silver only except when LCD or HDMI is connected to black + + + + Playback mode, hero 4 only + + + + Mode not yet known + + + + + + 848 x 480 (480p) + + + + 1280 x 720 (720p) + + + + 1280 x 960 (960p) + + + + 1920 x 1080 (1080p) + + + + 1920 x 1440 (1440p) + + + + 2704 x 1440 (2.7k-17:9) + + + + 2704 x 1524 (2.7k-16:9) + + + + 2704 x 2028 (2.7k-4:3) + + + + 3840 x 2160 (4k-16:9) + + + + 4096 x 2160 (4k-17:9) + + + + 1280 x 720 (720p-SuperView) + + + + 1920 x 1080 (1080p-SuperView) + + + + 2704 x 1520 (2.7k-SuperView) + + + + 3840 x 2160 (4k-SuperView) + + + + + + 12 FPS + + + + 15 FPS + + + + 24 FPS + + + + 25 FPS + + + + 30 FPS + + + + 48 FPS + + + + 50 FPS + + + + 60 FPS + + + + 80 FPS + + + + 90 FPS + + + + 100 FPS + + + + 120 FPS + + + + 240 FPS + + + + 12.5 FPS + + + + + + 0x00: Wide + + + + 0x01: Medium + + + + 0x02: Narrow + + + + + + 0=NTSC, 1=PAL + + + + + + 5MP Medium + + + + 7MP Medium + + + + 7MP Wide + + + + 10MP Wide + + + + 12MP Wide + + + + + + Auto + + + + 3000K + + + + 5500K + + + + 6500K + + + + Camera Raw + + + + + + Auto + + + + Neutral + + + + + + ISO 400 + + + + ISO 800 (Only Hero 4) + + + + ISO 1600 + + + + ISO 3200 (Only Hero 4) + + + + ISO 6400 + + + + + + Low Sharpness + + + + Medium Sharpness + + + + High Sharpness + + + + + + -5.0 EV (Hero 3+ Only) + + + + -4.5 EV (Hero 3+ Only) + + + + -4.0 EV (Hero 3+ Only) + + + + -3.5 EV (Hero 3+ Only) + + + + -3.0 EV (Hero 3+ Only) + + + + -2.5 EV (Hero 3+ Only) + + + + -2.0 EV + + + + -1.5 EV + + + + -1.0 EV + + + + -0.5 EV + + + + 0.0 EV + + + + +0.5 EV + + + + +1.0 EV + + + + +1.5 EV + + + + +2.0 EV + + + + +2.5 EV (Hero 3+ Only) + + + + +3.0 EV (Hero 3+ Only) + + + + +3.5 EV (Hero 3+ Only) + + + + +4.0 EV (Hero 3+ Only) + + + + +4.5 EV (Hero 3+ Only) + + + + +5.0 EV (Hero 3+ Only) + + + + + + Charging disabled + + + + Charging enabled + + + + + + Unknown gopro model + + + + Hero 3+ Silver (HeroBus not supported by GoPro) + + + + Hero 3+ Black + + + + Hero 4 Silver + + + + Hero 4 Black + + + + + + 3 Shots / 1 Second + + + + 5 Shots / 1 Second + + + + 10 Shots / 1 Second + + + + 10 Shots / 2 Second + + + + 10 Shots / 3 Second (Hero 4 Only) + + + + 30 Shots / 1 Second + + + + 30 Shots / 2 Second + + + + 30 Shots / 3 Second + + + + 30 Shots / 6 Second + + + + + + + LED patterns off (return control to regular vehicle control) + + + + LEDs show pattern during firmware update + + + + Custom Pattern using custom bytes fields + + + + + + Flags in EKF_STATUS message + + set if EKF's attitude estimate is good + + + + set if EKF's horizontal velocity estimate is good + + + + set if EKF's vertical velocity estimate is good + + + + set if EKF's horizontal position (relative) estimate is good + + + + set if EKF's horizontal position (absolute) estimate is good + + + + set if EKF's vertical position (absolute) estimate is good + + + + set if EKF's vertical position (above ground) estimate is good + + + + EKF is in constant position mode and does not know it's absolute or relative position + + + + set if EKF's predicted horizontal position (relative) estimate is good + + + + set if EKF's predicted horizontal position (absolute) estimate is good + + - - - + + + + + - - Special ACK block numbers control activation of dataflash log streaming - - - - UAV to stop sending DataFlash blocks - - - - UAV to start sending DataFlash blocks - - - - - Possible remote log data block statuses - - This block has NOT been received - - - This block has been received - - - - - - - - Offsets and calibrations values for hardware - sensors. This makes it easier to debug the calibration process. - magnetometer X offset - magnetometer Y offset - magnetometer Z offset - magnetic declination (radians) - raw pressure from barometer - raw temperature from barometer - gyro X calibration - gyro Y calibration - gyro Z calibration - accel X calibration - accel Y calibration - accel Z calibration - - - - Deprecated. Use MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS instead. Set the magnetometer offsets - System ID - Component ID - magnetometer X offset - magnetometer Y offset - magnetometer Z offset - - - - state of APM memory - heap top - free memory - - - - raw ADC output - ADC output 1 - ADC output 2 - ADC output 3 - ADC output 4 - ADC output 5 - ADC output 6 - - - - - Configure on-board Camera Control System. - System ID - Component ID - Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) - Divisor number //e.g. 1000 means 1/1000 (0 means ignore) - F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) - ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) - Exposure type enumeration from 1 to N (0 means ignore) - Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once - Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) - Extra parameters enumeration (0 means ignore) - Correspondent value to given extra_param - - - - Control on-board Camera Control System to take shots. - System ID - Component ID - 0: stop, 1: start or keep it up //Session control e.g. show/hide lens - 1 to N //Zoom's absolute position (0 means ignore) - -100 to 100 //Zooming step value to offset zoom from the current position - 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus - 0: ignore, 1: shot or start filming - Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once - Extra parameters enumeration (0 means ignore) - Correspondent value to given extra_param - - - - - Message to configure a camera mount, directional antenna, etc. - System ID - Component ID - mount operating mode (see MAV_MOUNT_MODE enum) - (1 = yes, 0 = no) - (1 = yes, 0 = no) - (1 = yes, 0 = no) - - - - Message to control a camera mount, directional antenna, etc. - System ID - Component ID - pitch(deg*100) or lat, depending on mount mode - roll(deg*100) or lon depending on mount mode - yaw(deg*100) or alt (in cm) depending on mount mode - if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) - - - - Message with some status from APM to GCS about camera or antenna mount - System ID - Component ID - pitch(deg*100) - roll(deg*100) - yaw(deg*100) - - - - - A fence point. Used to set a point when from - GCS -> MAV. Also used to return a point from MAV -> GCS - System ID - Component ID - point index (first point is 1, 0 is for return point) - total number of points (for sanity checking) - Latitude of point - Longitude of point - - - - Request a current fence point from MAV - System ID - Component ID - point index (first point is 1, 0 is for return point) - - - - Status of geo-fencing. Sent in extended - status stream when fencing enabled - 0 if currently inside fence, 1 if outside - number of fence breaches - last breach type (see FENCE_BREACH_* enum) - time of last breach in milliseconds since boot - - - - Status of DCM attitude estimator - X gyro drift estimate rad/s - Y gyro drift estimate rad/s - Z gyro drift estimate rad/s - average accel_weight - average renormalisation value - average error_roll_pitch value - average error_yaw value - - - - Status of simulation environment, if used - Roll angle (rad) - Pitch angle (rad) - Yaw angle (rad) - X acceleration m/s/s - Y acceleration m/s/s - Z acceleration m/s/s - Angular speed around X axis rad/s - Angular speed around Y axis rad/s - Angular speed around Z axis rad/s - Latitude in degrees * 1E7 - Longitude in degrees * 1E7 - - - - Status of key hardware - board voltage (mV) - I2C error count - - - - Status generated by radio - local signal strength - remote signal strength - how full the tx buffer is as a percentage - background noise level - remote background noise level - receive errors - count of error corrected packets - - - - - - Status of AP_Limits. Sent in extended - status stream when AP_Limits is enabled - state of AP_Limits, (see enum LimitState, LIMITS_STATE) - time of last breach in milliseconds since boot - time of last recovery action in milliseconds since boot - time of last successful recovery in milliseconds since boot - time of last all-clear in milliseconds since boot - number of fence breaches - AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE) - AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE) - AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE) - - - - Wind estimation - wind direction that wind is coming from (degrees) - wind speed in ground plane (m/s) - vertical wind speed (m/s) - - - - Data packet, size 16 - data type - data length - raw data - - - - Data packet, size 32 - data type - data length - raw data - - - - Data packet, size 64 - data type - data length - raw data - - - - Data packet, size 96 - data type - data length - raw data - - - - Rangefinder reporting - distance in meters - raw voltage if available, zero otherwise - - - + + + + + + + + + + + Special ACK block numbers control activation of dataflash log streaming + + + + UAV to stop sending DataFlash blocks + + + + + UAV to start sending DataFlash blocks + + + + + + + Possible remote log data block statuses + + This block has NOT been received + + + + This block has been received + + + + + + + Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process. + magnetometer X offset + magnetometer Y offset + magnetometer Z offset + magnetic declination (radians) + raw pressure from barometer + raw temperature from barometer + gyro X calibration + gyro Y calibration + gyro Z calibration + accel X calibration + accel Y calibration + accel Z calibration + + + + Deprecated. Use MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS instead. Set the magnetometer offsets + System ID + Component ID + magnetometer X offset + magnetometer Y offset + magnetometer Z offset + + + + state of APM memory + heap top + free memory + + + + raw ADC output + ADC output 1 + ADC output 2 + ADC output 3 + ADC output 4 + ADC output 5 + ADC output 6 + + + + + Configure on-board Camera Control System. + System ID + Component ID + Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) + Divisor number //e.g. 1000 means 1/1000 (0 means ignore) + F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) + ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) + Exposure type enumeration from 1 to N (0 means ignore) + Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once + Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) + Extra parameters enumeration (0 means ignore) + Correspondent value to given extra_param + + + + Control on-board Camera Control System to take shots. + System ID + Component ID + 0: stop, 1: start or keep it up //Session control e.g. show/hide lens + 1 to N //Zoom's absolute position (0 means ignore) + -100 to 100 //Zooming step value to offset zoom from the current position + 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus + 0: ignore, 1: shot or start filming + Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once + Extra parameters enumeration (0 means ignore) + Correspondent value to given extra_param + + + + + Message to configure a camera mount, directional antenna, etc. + System ID + Component ID + mount operating mode (see MAV_MOUNT_MODE enum) + (1 = yes, 0 = no) + (1 = yes, 0 = no) + (1 = yes, 0 = no) + + + + Message to control a camera mount, directional antenna, etc. + System ID + Component ID + pitch(deg*100) or lat, depending on mount mode + roll(deg*100) or lon depending on mount mode + yaw(deg*100) or alt (in cm) depending on mount mode + if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) + + + + Message with some status from APM to GCS about camera or antenna mount + System ID + Component ID + pitch(deg*100) + roll(deg*100) + yaw(deg*100) + + + + + A fence point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS + System ID + Component ID + point index (first point is 1, 0 is for return point) + total number of points (for sanity checking) + Latitude of point + Longitude of point + + + + Request a current fence point from MAV + System ID + Component ID + point index (first point is 1, 0 is for return point) + + + + Status of geo-fencing. Sent in extended status stream when fencing enabled + 0 if currently inside fence, 1 if outside + number of fence breaches + last breach type (see FENCE_BREACH_* enum) + time of last breach in milliseconds since boot + + + + Status of DCM attitude estimator + X gyro drift estimate rad/s + Y gyro drift estimate rad/s + Z gyro drift estimate rad/s + average accel_weight + average renormalisation value + average error_roll_pitch value + average error_yaw value + + + + Status of simulation environment, if used + Roll angle (rad) + Pitch angle (rad) + Yaw angle (rad) + X acceleration m/s/s + Y acceleration m/s/s + Z acceleration m/s/s + Angular speed around X axis rad/s + Angular speed around Y axis rad/s + Angular speed around Z axis rad/s + Latitude in degrees * 1E7 + Longitude in degrees * 1E7 + + + + Status of key hardware + board voltage (mV) + I2C error count + + + + Status generated by radio + local signal strength + remote signal strength + how full the tx buffer is as a percentage + background noise level + remote background noise level + receive errors + count of error corrected packets + + + + + Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled + state of AP_Limits, (see enum LimitState, LIMITS_STATE) + time of last breach in milliseconds since boot + time of last recovery action in milliseconds since boot + time of last successful recovery in milliseconds since boot + time of last all-clear in milliseconds since boot + number of fence breaches + AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE) + AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE) + AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE) + + + + Wind estimation + wind direction that wind is coming from (degrees) + wind speed in ground plane (m/s) + vertical wind speed (m/s) + + + + Data packet, size 16 + data type + data length + raw data + + + + Data packet, size 32 + data type + data length + raw data + + + + Data packet, size 64 + data type + data length + raw data + + + + Data packet, size 96 + data type + data length + raw data + + + + Rangefinder reporting + distance in meters + raw voltage if available, zero otherwise + + + Airspeed auto-calibration - GPS velocity north m/s - GPS velocity east m/s - GPS velocity down m/s - Differential pressure pascals - Estimated to true airspeed ratio - Airspeed ratio - EKF state x - EKF state y - EKF state z - EKF Pax - EKF Pby - EKF Pcz - - - - - A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS - System ID - Component ID - point index (first point is 0) - total number of points (for sanity checking) - Latitude of point in degrees * 1E7 + GPS velocity north m/s + GPS velocity east m/s + GPS velocity down m/s + Differential pressure pascals + Estimated to true airspeed ratio + Airspeed ratio + EKF state x + EKF state y + EKF state z + EKF Pax + EKF Pby + EKF Pcz + + + + + A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS + System ID + Component ID + point index (first point is 0) + total number of points (for sanity checking) + Latitude of point in degrees * 1E7 Longitude of point in degrees * 1E7 Transit / loiter altitude in meters relative to home Break altitude in meters relative to home Heading to aim for when landing. In centi-degrees. See RALLY_FLAGS enum for definition of the bitmask. - + - + Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid. System ID Component ID point index (first point is 0) - + - + Status of compassmot calibration throttle (percent*10) current (amps) @@ -1088,255 +1318,247 @@ Motor Compensation X Motor Compensation Y Motor Compensation Z - - - - - - Status of secondary AHRS filter if available - Roll angle (rad) - Pitch angle (rad) - Yaw angle (rad) - Altitude (MSL) - Latitude in degrees * 1E7 - Longitude in degrees * 1E7 - - - - - Camera Event - Image timestamp (microseconds since UNIX epoch, according to camera clock) - System ID - Camera ID - Image index - See CAMERA_STATUS_TYPES enum for definition of the bitmask - Parameter 1 (meaning depends on event, see CAMERA_STATUS_TYPES enum) - Parameter 2 (meaning depends on event, see CAMERA_STATUS_TYPES enum) - Parameter 3 (meaning depends on event, see CAMERA_STATUS_TYPES enum) - Parameter 4 (meaning depends on event, see CAMERA_STATUS_TYPES enum) - - - - - Camera Capture Feedback - Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB) - System ID - Camera ID - Image index - Latitude in (deg * 1E7) - Longitude in (deg * 1E7) - Altitude Absolute (meters AMSL) - Altitude Relative (meters above HOME location) - Camera Roll angle (earth frame, degrees, +-180) - Camera Pitch angle (earth frame, degrees, +-180) - Camera Yaw (earth frame, degrees, 0-360, true) - Focal Length (mm) - See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask - - - - 2nd Battery status - voltage in millivolts - Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current - - - - Status of third AHRS filter if available. This is for ANU research group (Ali and Sean) - Roll angle (rad) - Pitch angle (rad) - Yaw angle (rad) - Altitude (MSL) - Latitude in degrees * 1E7 - Longitude in degrees * 1E7 - test variable1 - test variable2 - test variable3 - test variable4 - - - - Request the autopilot version from the system/component. - System ID - Component ID - - - - - Send a block of log data to remote location - System ID - Component ID - log data block sequence number - log data block - - - - Send Status of each log block that autopilot board might have sent - System ID - Component ID - log data block sequence number - log data block status - - - - Control vehicle LEDs - System ID - Component ID - Instance (LED instance to control or 255 for all LEDs) - Pattern (see LED_PATTERN_ENUM) - Custom Byte Length - Custom Bytes - - - - Reports progress of compass calibration. - Compass being calibrated - Bitmask of compasses being calibrated - Status (see MAG_CAL_STATUS enum) - Attempt number - Completion percentage - Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid) - Body frame direction vector for display - Body frame direction vector for display - Body frame direction vector for display - - - - Reports results of completed compass calibration. Sent until MAG_CAL_ACK received. - Compass being calibrated - Bitmask of compasses being calibrated - Status (see MAG_CAL_STATUS enum) - 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters - RMS milligauss residuals - X offset - Y offset - Z offset - X diagonal (matrix 11) - Y diagonal (matrix 22) - Z diagonal (matrix 33) - X off-diagonal (matrix 12 and 21) - Y off-diagonal (matrix 13 and 31) - Z off-diagonal (matrix 32 and 23) - - - - - EKF Status message including flags and variances - Flags - Velocity variance - Horizontal Position variance - Vertical Position variance - Compass variance - Terrain Altitude variance - - - - - PID tuning information - axis - desired rate (degrees/s) - achieved rate (degrees/s) - FF component - P component - I component - D component - - - - 3 axis gimbal mesuraments - System ID - Component ID - Time since last update (seconds) - Delta angle X (radians) - Delta angle Y (radians) - Delta angle X (radians) - Delta velocity X (m/s) - Delta velocity Y (m/s) - Delta velocity Z (m/s) - Joint ROLL (radians) - Joint EL (radians) - Joint AZ (radians) - - - - Control message for rate gimbal - System ID - Component ID - Demanded angular rate X (rad/s) - Demanded angular rate Y (rad/s) - Demanded angular rate Z (rad/s) - - - - - 100 Hz gimbal torque command telemetry - - System ID - Component ID - Roll Torque Command - Elevation Torque Command - Azimuth Torque Command - - - - - Heartbeat from a HeroBus attached GoPro - Status - Current capture mode - additional status bits - - - Request a GOPRO_COMMAND response from the GoPro - System ID - Component ID - Command ID - - - Response from a GOPRO_COMMAND get request - Command ID - Status - Value - - - Request to set a GOPRO_COMMAND with a desired - System ID - Component ID - Command ID - Value - - - Response from a GOPRO_COMMAND set request - Command ID - Status - - - - - Accuracy statistics for GPS lock - Which instance of GPS we're reporting on - GPS-reported horizontal accuracy - GPS-reported speed accuracy - GPS-reported, filtered horizontal velocity - GPS-reported, filtered vertical velocity - GPS position drift - Which fields pass EKF checks - - - + + + + + Status of secondary AHRS filter if available + Roll angle (rad) + Pitch angle (rad) + Yaw angle (rad) + Altitude (MSL) + Latitude in degrees * 1E7 + Longitude in degrees * 1E7 + + + + + Camera Event + Image timestamp (microseconds since UNIX epoch, according to camera clock) + System ID + + Camera ID + + Image index + + See CAMERA_STATUS_TYPES enum for definition of the bitmask + Parameter 1 (meaning depends on event, see CAMERA_STATUS_TYPES enum) + Parameter 2 (meaning depends on event, see CAMERA_STATUS_TYPES enum) + Parameter 3 (meaning depends on event, see CAMERA_STATUS_TYPES enum) + Parameter 4 (meaning depends on event, see CAMERA_STATUS_TYPES enum) + + + + + Camera Capture Feedback + Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB) + System ID + + Camera ID + + Image index + + Latitude in (deg * 1E7) + Longitude in (deg * 1E7) + Altitude Absolute (meters AMSL) + Altitude Relative (meters above HOME location) + Camera Roll angle (earth frame, degrees, +-180) + + Camera Pitch angle (earth frame, degrees, +-180) + + Camera Yaw (earth frame, degrees, 0-360, true) + + Focal Length (mm) + + See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask + + + + + 2nd Battery status + voltage in millivolts + Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current + + + + Status of third AHRS filter if available. This is for ANU research group (Ali and Sean) + Roll angle (rad) + Pitch angle (rad) + Yaw angle (rad) + Altitude (MSL) + Latitude in degrees * 1E7 + Longitude in degrees * 1E7 + test variable1 + test variable2 + test variable3 + test variable4 + + + + Request the autopilot version from the system/component. + System ID + Component ID + + + + + Send a block of log data to remote location + System ID + Component ID + log data block sequence number + log data block + + + + Send Status of each log block that autopilot board might have sent + System ID + Component ID + log data block sequence number + log data block status + + + + Control vehicle LEDs + System ID + Component ID + Instance (LED instance to control or 255 for all LEDs) + Pattern (see LED_PATTERN_ENUM) + Custom Byte Length + Custom Bytes + + + + Reports progress of compass calibration. + Compass being calibrated + Bitmask of compasses being calibrated + Status (see MAG_CAL_STATUS enum) + Attempt number + Completion percentage + Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid) + Body frame direction vector for display + Body frame direction vector for display + Body frame direction vector for display + + + + Reports results of completed compass calibration. Sent until MAG_CAL_ACK received. + Compass being calibrated + Bitmask of compasses being calibrated + Status (see MAG_CAL_STATUS enum) + 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters + RMS milligauss residuals + X offset + Y offset + Z offset + X diagonal (matrix 11) + Y diagonal (matrix 22) + Z diagonal (matrix 33) + X off-diagonal (matrix 12 and 21) + Y off-diagonal (matrix 13 and 31) + Z off-diagonal (matrix 32 and 23) + + + + + EKF Status message including flags and variances + Flags + + Velocity variance + + Horizontal Position variance + Vertical Position variance + Compass variance + Terrain Altitude variance + + + + + PID tuning information + axis + desired rate (degrees/s) + achieved rate (degrees/s) + FF component + P component + I component + D component + + + + 3 axis gimbal mesuraments + System ID + Component ID + Time since last update (seconds) + Delta angle X (radians) + Delta angle Y (radians) + Delta angle X (radians) + Delta velocity X (m/s) + Delta velocity Y (m/s) + Delta velocity Z (m/s) + Joint ROLL (radians) + Joint EL (radians) + Joint AZ (radians) + + + + Control message for rate gimbal + System ID + Component ID + Demanded angular rate X (rad/s) + Demanded angular rate Y (rad/s) + Demanded angular rate Z (rad/s) + + + + 100 Hz gimbal torque command telemetry + System ID + Component ID + Roll Torque Command + Elevation Torque Command + Azimuth Torque Command + + + + + Heartbeat from a HeroBus attached GoPro + Status + Current capture mode + additional status bits + + + + + Request a GOPRO_COMMAND response from the GoPro + System ID + Component ID + Command ID + + + + Response from a GOPRO_COMMAND get request + Command ID + Status + Value + + + + Request to set a GOPRO_COMMAND with a desired + System ID + Component ID + Command ID + Value + + + + Response from a GOPRO_COMMAND set request + Command ID + Status + + + + + RPM sensor output + RPM Sensor1 + RPM Sensor2 + + +