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mission.proto
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mission.proto
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/* Protobuf definitions for defining a mavlink 1.0 mission. */
package mavlink;
enum CoordFrameType {
FRAME_GLOBAL = 0;
FRAME_LOCAL_NED = 1;
FRAME_MISSION = 2;
FRAME_GLOBAL_RELATIVE_ALT = 3;
FRAME_LOCAL_ENU = 4;
FRAME_ENUM_END = 5;
}
enum CommandType {
CMD_NAV_WAYPOINT = 16;
CMD_NAV_LOITER_UNLIM = 17;
CMD_NAV_LOITER_TURNS = 18;
CMD_NAV_LOITER_TIME = 19;
CMD_NAV_RETURN_TO_LAUNCH = 20;
CMD_NAV_LAND = 21;
CMD_NAV_TAKEOFF = 22;
CMD_NAV_ROI = 80;
CMD_NAV_PATHPLANNING = 81;
CMD_NAV_LAST = 95;
CMD_CONDITION_DELAY = 112;
CMD_CONDITION_CHANGE_ALT = 113;
CMD_CONDITION_DISTANCE = 114;
CMD_CONDITION_YAW = 115;
CMD_CONDITION_LAST = 159;
CMD_DO_SET_MODE = 176;
CMD_DO_JUMP = 177;
CMD_DO_CHANGE_SPEED = 178;
CMD_DO_SET_HOME = 179;
CMD_DO_SET_PARAMETER = 180;
CMD_DO_SET_RELAY = 181;
CMD_DO_REPEAT_RELAY = 182;
CMD_DO_SET_SERVO = 183;
CMD_DO_REPEAT_SERVO = 184;
CMD_DO_CONTROL_VIDEO = 200;
CMD_DO_DIGICAM_CONFIGURE = 202;
CMD_DO_DIGICAM_CONTROL = 203;
CMD_DO_MOUNT_CONFIGURE = 204;
CMD_DO_MOUNT_CONTROL = 205;
CMD_DO_LAST = 240;
CMD_PREFLIGHT_CALIBRATION = 241;
CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242;
CMD_PREFLIGHT_STORAGE = 245;
CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246;
CMD_OVERRIDE_GOTO = 252;
CMD_MISSION_START = 300;
CMD_COMPONENT_ARM_DISARM = 400;
}
message Waypoint {
optional int32 seq = 1;
optional bool current = 2;
required CommandType command = 3;
optional CoordFrameType frame = 4;
optional bool autocontinue = 5;
optional float param1 = 6;
optional float param2 = 7;
optional float param3 = 8;
optional float param4 = 9;
optional float x = 10;
optional float y = 11;
optional float z = 12;
}
message Mission {
optional Waypoint defaults = 1;
repeated Waypoint waypoint = 2;
}