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ardupilotmega.xml: solo updates
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‎message_definitions/v1.0/ardupilotmega.xml‎

Lines changed: 179 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -33,6 +33,39 @@
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<param index="6">Empty</param>
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<param index="7">Empty</param>
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</entry>
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<entry name="MAV_CMD_DO_START_MAG_CAL" value="42424">
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<description>Initiate a magnetometer calibration</description>
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<param index="1">uint8_t bitmask of magnetometers (0 means all)</param>
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<param index="2">Automatically retry on failure (0=no retry, 1=retry).</param>
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<param index="3">Save without user input (0=require input, 1=autosave).</param>
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<param index="4">Delay (seconds)</param>
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<param index="5">Empty</param>
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<param index="6">Empty</param>
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<param index="7">Empty</param>
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</entry>
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<entry name="MAV_CMD_DO_ACCEPT_MAG_CAL" value="42425">
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<description>Initiate a magnetometer calibration</description>
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<param index="1">uint8_t bitmask of magnetometers (0 means all)</param>
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<param index="2">Empty</param>
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<param index="3">Empty</param>
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<param index="4">Empty</param>
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<param index="5">Empty</param>
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<param index="6">Empty</param>
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<param index="7">Empty</param>
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</entry>
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<entry name="MAV_CMD_DO_CANCEL_MAG_CAL" value="42426">
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<description>Cancel a running magnetometer calibration</description>
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<param index="1">uint8_t bitmask of magnetometers (0 means all)</param>
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<param index="2">Empty</param>
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<param index="3">Empty</param>
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<param index="4">Empty</param>
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<param index="5">Empty</param>
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<param index="6">Empty</param>
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<param index="7">Empty</param>
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</entry>
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</enum>
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<!-- AP_Limits Enums -->
@@ -114,6 +147,65 @@
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<entry name="CLOSEDLOOP" value="3"> <description>Closed loop feedback from camera, we know for sure it has successfully taken a picture</description></entry>
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<entry name="OPENLOOP" value="4"> <description>Open loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture</description></entry>
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</enum>
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<!-- Gimbal payload enumerations -->
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<enum name="MAV_MODE_GIMBAL">
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<entry name="MAV_MODE_GIMBAL_UNINITIALIZED" value="0">
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<description>Gimbal is powered on but has not received an initialize command from the host vehicle</description>
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</entry>
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<entry name="MAV_MODE_GIMBAL_HOMING" value="1">
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<description>Gimbal is currently executing its homing routine</description>
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</entry>
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<entry name="MAV_MODE_GIMBAL_STABILIZED_RATE" value="2">
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<description>Gimbal is actively stabilizing, taking rate commands</description>
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</entry>
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<entry name="MAV_MODE_GIMBAL_STABILIZED_ANGLE" value="3">
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<description>Gimbal is actively stabilizing, taking angle target commands</description>
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</entry>
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<entry name="MAV_MODE_GIMBAL_FAULT" value="4">
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<description>Gimbal has experienced a fault, and is currently in limp mode</description>
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</entry>
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</enum>
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<!-- GoPro command result enumeration -->
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<enum name="GOPRO_CMD_RESULT">
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<entry name="GOPRO_CMD_RESULT_UNKNOWN" value="0">
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<description>The result of the command is unknown</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_SUCCESSFUL" value="1">
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<description>The command was successfully sent, and a response was successfully received</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_SEND_CMD_START_TIMEOUT" value="2">
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<description>Timed out waiting for the GoPro to acknowledge our request to send a command</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_SEND_CMD_COMPLETE_TIMEOUT" value="3">
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<description>Timed out waiting for the GoPro to read the command</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_GET_RESPONSE_START_TIMEOUT" value="4">
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<description>Timed out waiting for the GoPro to begin transmitting a response to the command</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_GET_RESPONSE_COMPLETE_TIMEOUT" value="5">
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<description>Timed out waiting for the GoPro to finish transmitting a response to the command</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_GET_CMD_COMPLETE_TIMEOUT" value="6">
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<description>Timed out waiting for the GoPro to finish transmitting its own command</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_SEND_RESPONSE_START_TIMEOUT" value="7">
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<description>Timed out waiting for the GoPro to start reading a response to its own command</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_SEND_RESPONSE_COMPLETE_TIMEOUT" value="8">
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<description>Timed out waiting for the GoPro to finish reading a response to its own command</description>
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</entry>
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<entry name="GOPRO_CMD_RESULT_PREEMPTED" value="9">
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<description>Command to the GoPro was preempted by the GoPro sending its own command</description>
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</entry>
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<entry name="GOPRO_CMD_RECEIVED_DATA_OVERFLOW" value="10">
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<description>More data than expected received in response to the command</description>
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</entry>
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<entry name="GOPRO_CMD_RECEIVED_DATA_UNDERFLOW" value="11">
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<description>Less data than expected received in response to the command</description>
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</entry>
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</enum>
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<!-- led control pattern enums (enumeration of specific patterns) -->
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<enum name="LED_CONTROL_PATTERN">
@@ -122,6 +214,15 @@
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<entry name="LED_CONTROL_PATTERN_CUSTOM" value="255"> <description>Custom Pattern using custom bytes fields</description></entry>
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</enum>
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<enum name="MAG_CAL_STATUS">
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<entry name="MAG_CAL_NOT_STARTED" value="0"></entry>
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<entry name="MAG_CAL_WAITING_TO_START" value="1"></entry>
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<entry name="MAG_CAL_RUNNING_STEP_ONE" value="2"></entry>
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<entry name="MAG_CAL_RUNNING_STEP_TWO" value="3"></entry>
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<entry name="MAG_CAL_SUCCESS" value="4"></entry>
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<entry name="MAG_CAL_FAILED" value="5"></entry>
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</enum>
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</enums>
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<messages>
@@ -452,7 +553,7 @@
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<message name="CAMERA_FEEDBACK" id="180">
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<description>Camera Capture Feedback</description>
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<field name="time_usec" type="uint64_t">Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB)</field>
455-
<field name="target_system" type="uint8_t" >System ID</field> <!-- support multiple concurrent vehicles -->
556+
<field name="target_system" type="uint8_t" >System ID</field> <!-- support multiple concurrent vehicles -->
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<field name="cam_idx" type="uint8_t" >Camera ID</field> <!-- component ID, to support multiple cameras -->
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<field name="img_idx" type="uint16_t">Image index</field> <!-- per camera image index, should be unique+sequential within a mission, preferably non-wrapping -->
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<field name="lat" type="int32_t" >Latitude in (deg * 1E7)</field>
@@ -493,31 +594,28 @@
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</message>
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<message name="GIMBAL_REPORT" id="184">
496-
<description>Report from MAVLink enabled gimbal to vehicle. The deltas are in gimbal sensor frame. Joint measurements assume a 312 ordering (azimuth, roll, pitch).</description>
597+
<description>3 axis gimbal mesuraments</description>
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<field type="uint8_t" name="target_system">System ID</field>
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<field type="uint8_t" name="target_component">Component ID</field>
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<field type="float" name="delta_time">Time since last update (seconds)</field>
500-
<field type="float" name="delta_angle_x">Delta angle X, radians</field>
501-
<field type="float" name="delta_angle_y">Delta angle Y, radians</field>
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<field type="float" name="delta_angle_z">Delta angle Z, radians</field>
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<field type="float" name="delta_velocity_x">Delta velocity X, m/s</field>
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<field type="float" name="delta_velocity_y">Delta velocity Y, m/s</field>
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<field type="float" name="delta_velocity_z">Delta velocity Z, m/s</field>
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<field type="float" name="joint_roll">Joint roll, radians</field>
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<field type="float" name="joint_pitch">Joint pitch, radians</field>
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<field type="float" name="joint_yaw">Joint yaw, radians</field>
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<field type="float" name="delta_angle_x">Delta angle X (radians)</field>
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<field type="float" name="delta_angle_y">Delta angle Y (radians)</field>
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<field type="float" name="delta_angle_z">Delta angle X (radians)</field>
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<field type="float" name="delta_velocity_x">Delta velocity X (m/s)</field>
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<field type="float" name="delta_velocity_y">Delta velocity Y (m/s)</field>
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<field type="float" name="delta_velocity_z">Delta velocity Z (m/s)</field>
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<field type="float" name="joint_roll"> Joint ROLL (radians)</field>
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<field type="float" name="joint_el"> Joint EL (radians)</field>
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<field type="float" name="joint_az"> Joint AZ (radians)</field>
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</message>
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<message name="GIMBAL_CONTROL" id="185">
512-
<description>Control packet from vehicle to MAVLink enabled gimbal. All values in gimbal sensor frame</description>
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<description>Control message for rate gimbal</description>
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<field type="uint8_t" name="target_system">System ID</field>
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<field type="uint8_t" name="target_component">Component ID</field>
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<field type="float" name="demanded_rate_x">Demanded angular rate X, radians/s</field>
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<field type="float" name="demanded_rate_y">Demanded angular rate Y, radians/s</field>
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<field type="float" name="demanded_rate_z">Demanded angular rate Z, radians/s</field>
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<field type="float" name="gyro_bias_x">Gyro bias X, radians/s</field>
519-
<field type="float" name="gyro_bias_y">Gyro bias Y, radians/s</field>
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<field type="float" name="gyro_bias_z">Gyro bias Z, radians/s</field>
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<field type="float" name="demanded_rate_x">Demanded angular rate X (rad/s)</field>
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<field type="float" name="demanded_rate_y">Demanded angular rate Y (rad/s)</field>
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<field type="float" name="demanded_rate_z">Demanded angular rate Z (rad/s)</field>
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</message>
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<message name="LED_CONTROL" id="186">
@@ -529,6 +627,69 @@
529627
<field type="uint8_t" name="custom_len">Custom Byte Length</field>
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<field type="uint8_t[24]" name="custom_bytes">Custom Bytes</field>
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</message>
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<message name="GOPRO_POWER_ON" id="187">
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<description>Instruct a HeroBus attached GoPro to power on</description>
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<field name="target_system" type="uint8_t">System ID</field>
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<field name="target_component" type="uint8_t">Component ID</field>
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</message>
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<message name="GOPRO_POWER_OFF" id="188">
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<description>Instruct a HeroBus attached GoPro to power off</description>
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<field name="target_system" type="uint8_t">System ID</field>
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<field name="target_component" type="uint8_t">Component ID</field>
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</message>
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<message name="GOPRO_COMMAND" id="189">
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<description>Send a command to a HeroBus attached GoPro. Will generate a GOPRO_RESPONSE message with results of the command</description>
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<field name="target_system" type="uint8_t">System ID</field>
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<field name="target_component" type="uint8_t">Component ID</field>
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<field name="gp_cmd_name_1" type="uint8_t">First character of the 2 character GoPro command</field>
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<field name="gp_cmd_name_2" type="uint8_t">Second character of the 2 character GoPro command</field>
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<field name="gp_cmd_parm" type="uint8_t">Parameter for the command</field>
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</message>
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<message name="GOPRO_RESPONSE" id="190">
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<description>
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Response to a command sent to a HeroBus attached GoPro with a GOPRO_COMMAND message. Contains response from the camera as well as information about any errors encountered while attempting to communicate with the camera
655+
</description>
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<field name="gp_cmd_name_1" type="uint8_t">First character of the 2 character GoPro command that generated this response</field>
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<field name="gp_cmd_name_2" type="uint8_t">Second character of the 2 character GoPro command that generated this response</field>
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<field name="gp_cmd_response_status" type="uint8_t">Response byte from the GoPro's response to the command. 0 = Success, 1 = Failure</field>
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<field name="gp_cmd_response_argument" type="uint8_t">Response argument from the GoPro's response to the command</field>
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<field name="gp_cmd_result" type="uint16_t" enum="GOPRO_CMD_RESULT">Result of the command attempt to the GoPro, as defined by GOPRO_CMD_RESULT enum.</field>
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</message>
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<message name="MAG_CAL_PROGRESS" id="191">
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<description>Reports progress of compass calibration.</description>
665+
<field type="uint8_t" name="compass_id">Compass being calibrated</field>
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<field type="uint8_t" name="cal_mask">Bitmask of compasses being calibrated</field>
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<field type="uint8_t" name="cal_status">Status (see MAG_CAL_STATUS enum)</field>
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<field type="uint8_t" name="attempt">Attempt number</field>
669+
<field type="uint8_t" name="completion_pct">Completion percentage</field>
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<field type="uint8_t[10]" name="completion_mask">Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid)</field>
671+
<field type="float" name="direction_x">Body frame direction vector for display</field>
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<field type="float" name="direction_y">Body frame direction vector for display</field>
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<field type="float" name="direction_z">Body frame direction vector for display</field>
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</message>
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676+
<message name="MAG_CAL_REPORT" id="192">
677+
<description>Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.</description>
678+
<field type="uint8_t" name="compass_id">Compass being calibrated</field>
679+
<field type="uint8_t" name="cal_mask">Bitmask of compasses being calibrated</field>
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<field type="uint8_t" name="cal_status">Status (see MAG_CAL_STATUS enum)</field>
681+
<field type="uint8_t" name="autosaved">0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters</field>
682+
<field type="float" name="fitness">RMS milligauss residuals</field>
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<field type="float" name="ofs_x">X offset</field>
684+
<field type="float" name="ofs_y">Y offset</field>
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<field type="float" name="ofs_z">Z offset</field>
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<field type="float" name="diag_x">X diagonal (matrix 11)</field>
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<field type="float" name="diag_y">Y diagonal (matrix 22)</field>
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<field type="float" name="diag_z">Z diagonal (matrix 33)</field>
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<field type="float" name="offdiag_x">X off-diagonal (matrix 12 and 21)</field>
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<field type="float" name="offdiag_y">Y off-diagonal (matrix 13 and 31)</field>
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<field type="float" name="offdiag_z">Z off-diagonal (matrix 32 and 23)</field>
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</message>
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533694
</messages>
534695
</mavlink>

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