* @brief MAVLink comm protocol generated from slugs.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#ifndef SLUGS_H
#define SLUGS_H
#ifndef MAVLINK_H
#error Wrong include order: SLUGS.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call.
MAV_CMD_NAV_WAYPOINT=16,/* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_UNLIM=17,/* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_TURNS=18,/* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_TIME=19,/* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LAND=21,/* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_TAKEOFF=22,/* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */
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 intereset mode. (see MAV_ROI enum)| MISSION 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 MISSION using a spline path. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
MAV_CMD_NAV_LAST=95,/* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_CONDITION_DELAY=112,/* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_CONDITION_CHANGE_ALT=113,/* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */
MAV_CMD_CONDITION_DISTANCE=114,/* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_CONDITION_YAW=115,/* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */
MAV_CMD_CONDITION_LAST=159,/* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_MODE=176,/* Set system mode. |Mode, as defined by ENUM MAV_MODE| Custom mode - this is system specific, please refer to the individual autopilot specifications for details.| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_JUMP=177,/* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_CHANGE_SPEED=178,/* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_HOME=179,/* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
MAV_CMD_DO_SET_PARAMETER=180,/* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_RELAY=181,/* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_RELAY=182,/* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_SET_SERVO=183,/* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_REPEAT_SERVO=184,/* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */
MAV_CMD_DO_CONTROL_VIDEO=200,/* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
MAV_CMD_DO_SET_ROI=201,/* 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 intereset mode. (see MAV_ROI enum)| MISSION 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_DO_DIGICAM_CONFIGURE=202,/* Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| */
MAV_CMD_DO_DIGICAM_CONTROL=203,/* Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| */
MAV_CMD_DO_MOUNT_CONFIGURE=204,/* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| */
MAV_CMD_DO_MOUNT_CONTROL=205,/* Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value| */
MAV_CMD_DO_SET_CAM_TRIGG_DIST=206,/* Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_FENCE_ENABLE=207,/* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_PARACHUTE=208,/* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_MOUNT_CONTROL_QUAT=220,/* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1| q2 - quaternion param #2| q3 - quaternion param #3| q4 - quaternion param #4| Empty| Empty| Empty| */
MAV_CMD_DO_LAST=240,/* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_CALIBRATION=241,/* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Compass/Motor interference calibration: 0: no, 1: yes| Empty| */
MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242,/* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */
MAV_CMD_PREFLIGHT_STORAGE=245,/* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246,/* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */
MAV_CMD_OVERRIDE_GOTO=252,/* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */
MAV_CMD_MISSION_START=300,/* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */
MAV_CMD_COMPONENT_ARM_DISARM=400,/* Arms / Disarms a component |1 to arm, 0 to disarm| */
MAV_CMD_DO_NOTHING=10001,/* Does nothing. |1 to arm, 0 to disarm| */
MAV_CMD_RETURN_TO_BASE=10011,/* Return vehicle to base. |0: return to base, 1: track mobile base| */
MAV_CMD_STOP_RETURN_TO_BASE=10012,/* Stops the vehicle from returning to base and resumes flight. | */
MAV_CMD_TURN_LIGHT=10013,/* Turns the vehicle's visible or infrared lights on or off. |0: visible lights, 1: infrared lights| 0: turn on, 1: turn off| */
MAV_CMD_GET_MID_LEVEL_COMMANDS=10014,/* Requests vehicle to send current mid-level commands to ground station. | */
MAV_CMD_MIDLEVEL_STORAGE=10015,/* Requests storage of mid-level commands. |Mid-level command storage: 0: read from flash/EEPROM, 1: write to flash/EEPROM| */
}MAV_CMD;
#endif
/** @brief Slugs-specific navigation modes. */
#ifndef HAVE_ENUM_SLUGS_MODE
#define HAVE_ENUM_SLUGS_MODE
typedefenumSLUGS_MODE
{
SLUGS_MODE_NONE=0,/* No change to SLUGS mode. | */
SLUGS_MODE_LIFTOFF=1,/* Vehicle is in liftoff mode. | */
SLUGS_MODE_PASSTHROUGH=2,/* Vehicle is in passthrough mode, being controlled by a pilot. | */
SLUGS_MODE_WAYPOINT=3,/* Vehicle is in waypoint mode, navigating to waypoints. | */
SLUGS_MODE_MID_LEVEL=4,/* Vehicle is executing mid-level commands. | */
SLUGS_MODE_RETURNING=5,/* Vehicle is returning to the home location. | */
SLUGS_MODE_LANDING=6,/* Vehicle is landing. | */
SLUGS_MODE_LOST=7,/* Lost connection with vehicle. | */
SLUGS_MODE_SELECTIVE_PASSTHROUGH=8,/* Vehicle is in selective passthrough mode, where selected surfaces are being manually controlled. | */
SLUGS_MODE_ISR=9,/* Vehicle is in ISR mode, performing reconaissance at a point specified by ISR_LOCATION message. | */
SLUGS_MODE_LINE_PATROL=10,/* Vehicle is patrolling along lines between waypoints. | */
SLUGS_MODE_GROUNDED=11,/* Vehicle is grounded or an error has occurred. | */
SLUGS_MODE_ENUM_END=12,/* | */
}SLUGS_MODE;
#endif
/** @brief These flags encode the control surfaces for selective passthrough mode. If a bit is set then the pilot console
has control of the surface, and if not then the autopilot has control of the surface. */
#ifndef HAVE_ENUM_CONTROL_SURFACE_FLAG
#define HAVE_ENUM_CONTROL_SURFACE_FLAG
typedefenumCONTROL_SURFACE_FLAG
{
CONTROL_SURFACE_FLAG_RIGHT_FLAP=1,/* 0b00000001 Right flap control passes through to pilot console. | */
CONTROL_SURFACE_FLAG_LEFT_FLAP=2,/* 0b00000010 Left flap control passes through to pilot console. | */
CONTROL_SURFACE_FLAG_RIGHT_ELEVATOR=4,/* 0b00000100 Right elevator control passes through to pilot console. | */
CONTROL_SURFACE_FLAG_LEFT_ELEVATOR=8,/* 0b00001000 Left elevator control passes through to pilot console. | */
CONTROL_SURFACE_FLAG_RUDDER=16,/* 0b00010000 Rudder control passes through to pilot console. | */
CONTROL_SURFACE_FLAG_RIGHT_AILERON=32,/* 0b00100000 Right aileron control passes through to pilot console. | */
CONTROL_SURFACE_FLAG_LEFT_AILERON=64,/* 0b01000000 Left aileron control passes through to pilot console. | */
CONTROL_SURFACE_FLAG_THROTTLE=128,/* 0b10000000 Throttle control passes through to pilot console. | */
