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update mavlink xml

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Signed-off-by: Matt <matt@matthewgong.com>
This commit is contained in:
Matt
2018-04-29 09:48:09 +08:00
parent fe1bed229c
commit 5b488ca7bd
43 changed files with 3316 additions and 1150 deletions
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message_definitions/ardupilotmega.xml
+4
View File
@@ -1298,6 +1298,8 @@
<!-- per-image to support zooms. Zero means fixed focal length or unknown. Should be true mm, not scaled to 35mm film equivalent -->
<field type="uint8_t" name="flags" enum="CAMERA_FEEDBACK_FLAGS">See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask</field>
<!-- future proofing -->
<extensions/>
<field type="uint16_t" name="completed_captures">Completed image captures</field>
</message>
<message id="181" name="BATTERY2">
<description>2nd Battery status</description>
@@ -1386,6 +1388,8 @@
<field type="float" name="pos_vert_variance">Vertical Position variance</field>
<field type="float" name="compass_variance">Compass variance</field>
<field type="float" name="terrain_alt_variance">Terrain Altitude variance</field>
<extensions/>
<field type="float" name="airspeed_variance">Airspeed variance</field>
</message>
<!-- realtime PID tuning message -->
<message id="194" name="PID_TUNING">
message_definitions/common.xml
+142 -32
View File
@@ -161,6 +161,12 @@
<entry value="30" name="MAV_TYPE_CAMERA">
<description>Camera</description>
</entry>
<entry value="31" name="MAV_TYPE_CHARGING_STATION">
<description>Charging station</description>
</entry>
<entry value="32" name="MAV_TYPE_FLARM">
<description>Onboard FLARM collision avoidance system</description>
</entry>
</enum>
<enum name="FIRMWARE_VERSION_TYPE">
<description>These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65.</description>
@@ -446,6 +452,9 @@
<entry value="159" name="MAV_COMP_ID_QX1_GIMBAL">
<description/>
</entry>
<entry value="160" name="MAV_COMP_ID_FLARM">
<description/>
</entry>
<entry value="180" name="MAV_COMP_ID_MAPPER">
<description/>
</entry>
@@ -560,13 +569,16 @@
<entry value="33554432" name="MAV_SYS_STATUS_SENSOR_BATTERY">
<description>0x2000000 Battery</description>
</entry>
<entry value="67108864" name="MAV_SYS_STATUS_SENSOR_PROXIMITY">
<description>0x4000000 Proximity</description>
</entry>
</enum>
<enum name="MAV_FRAME">
<entry value="0" name="MAV_FRAME_GLOBAL">
<description>Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL)</description>
<description>Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL).</description>
</entry>
<entry value="1" name="MAV_FRAME_LOCAL_NED">
<description>Local coordinate frame, Z-up (x: north, y: east, z: down).</description>
<description>Local coordinate frame, Z-down (x: north, y: east, z: down).</description>
</entry>
<entry value="2" name="MAV_FRAME_MISSION">
<description>NOT a coordinate frame, indicates a mission command.</description>
@@ -575,10 +587,10 @@
<description>Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location.</description>
</entry>
<entry value="4" name="MAV_FRAME_LOCAL_ENU">
<description>Local coordinate frame, Z-down (x: east, y: north, z: up)</description>
<description>Local coordinate frame, Z-up (x: east, y: north, z: up).</description>
</entry>
<entry value="5" name="MAV_FRAME_GLOBAL_INT">
<description>Global coordinate frame, WGS84 coordinate system. First value / x: latitude in degrees*1.0e-7, second value / y: longitude in degrees*1.0e-7, third value / z: positive altitude over mean sea level (MSL)</description>
<description>Global coordinate frame, WGS84 coordinate system. First value / x: latitude in degrees*1.0e-7, second value / y: longitude in degrees*1.0e-7, third value / z: positive altitude over mean sea level (MSL).</description>
</entry>
<entry value="6" name="MAV_FRAME_GLOBAL_RELATIVE_ALT_INT">
<description>Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude with 0 being at the altitude of the home location.</description>
@@ -598,6 +610,30 @@
<entry value="11" name="MAV_FRAME_GLOBAL_TERRAIN_ALT_INT">
<description>Global coordinate frame with above terrain level altitude. WGS84 coordinate system, relative altitude over terrain with respect to the waypoint coordinate. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude in meters with 0 being at ground level in terrain model.</description>
</entry>
<entry value="12" name="MAV_FRAME_BODY_FRD">
<description>Body fixed frame of reference, Z-down (x: forward, y: right, z: down).</description>
</entry>
<entry value="13" name="MAV_FRAME_BODY_FLU">
<description>Body fixed frame of reference, Z-up (x: forward, y: left, z: up).</description>
</entry>
<entry value="14" name="MAV_FRAME_MOCAP_NED">
<description>Odometry local coordinate frame of data given by a motion capture system, Z-down (x: north, y: east, z: down).</description>
</entry>
<entry value="15" name="MAV_FRAME_MOCAP_ENU">
<description>Odometry local coordinate frame of data given by a motion capture system, Z-up (x: east, y: north, z: up).</description>
</entry>
<entry value="16" name="MAV_FRAME_VISION_NED">
<description>Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down).</description>
</entry>
<entry value="17" name="MAV_FRAME_VISION_ENU">
<description>Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: east, y: north, z: up).</description>
</entry>
<entry value="18" name="MAV_FRAME_ESTIM_NED">
<description>Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down).</description>
</entry>
<entry value="19" name="MAV_FRAME_ESTIM_ENU">
<description>Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: east, y: noth, z: up).</description>
</entry>
</enum>
<enum name="MAVLINK_DATA_STREAM_TYPE">
<entry name="MAVLINK_DATA_STREAM_IMG_JPEG">
@@ -1457,7 +1493,7 @@
<entry value="500" name="MAV_CMD_START_RX_PAIR">
<description>Starts receiver pairing</description>
<param index="1">0:Spektrum</param>
<param index="2">0:Spektrum DSM2, 1:Spektrum DSMX</param>
<param index="2">RC type (see RC_TYPE enum)</param>
</entry>
<entry value="510" name="MAV_CMD_GET_MESSAGE_INTERVAL">
<description>Request the interval between messages for a particular MAVLink message ID</description>
@@ -1526,7 +1562,8 @@
<param index="1">Reserved (Set to 0)</param>
<param index="2">Duration between two consecutive pictures (in seconds)</param>
<param index="3">Number of images to capture total - 0 for unlimited capture</param>
<param index="4">Reserved (all remaining params)</param>
<param index="4">Capture sequence (ID to prevent double captures when a command is retransmitted, 0: unused, &gt;= 1: used)</param>
<param index="5">Reserved (all remaining params)</param>
</entry>
<entry value="2001" name="MAV_CMD_IMAGE_STOP_CAPTURE">
<description>Stop image capture sequence Use NAN for reserved values.</description>
@@ -2471,6 +2508,30 @@
<description>Payload battery</description>
</entry>
</enum>
<enum name="MAV_BATTERY_CHARGE_STATE">
<description>Enumeration for low battery states.</description>
<entry value="0" name="MAV_BATTERY_CHARGE_STATE_UNDEFINED">
<description>Low battery state is not provided</description>
</entry>
<entry value="1" name="MAV_BATTERY_CHARGE_STATE_OK">
<description>Battery is not in low state. Normal operation.</description>
</entry>
<entry value="2" name="MAV_BATTERY_CHARGE_STATE_LOW">
<description>Battery state is low, warn and monitor close.</description>
</entry>
<entry value="3" name="MAV_BATTERY_CHARGE_STATE_CRITICAL">
<description>Battery state is critical, return or abort immediately.</description>
</entry>
<entry value="4" name="MAV_BATTERY_CHARGE_STATE_EMERGENCY">
<description>Battery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage.</description>
</entry>
<entry value="5" name="MAV_BATTERY_CHARGE_STATE_FAILED">
<description>Battery failed, damage unavoidable.</description>
</entry>
<entry value="6" name="MAV_BATTERY_CHARGE_STATE_UNHEALTHY">
<description>Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited.</description>
</entry>
</enum>
<enum name="MAV_VTOL_STATE">
<description>Enumeration of VTOL states</description>
<entry value="0" name="MAV_VTOL_STATE_UNDEFINED">
@@ -2834,15 +2895,24 @@
<description>North, East, Down</description>
</entry>
</enum>
<enum name="RC_TYPE">
<description>RC type</description>
<entry value="0" name="RC_TYPE_SPEKTRUM_DSM2">
<description>Spektrum DSM2</description>
</entry>
<entry value="1" name="RC_TYPE_SPEKTRUM_DSMX">
<description>Spektrum DSMX</description>
</entry>
</enum>
</enums>
<messages>
<message id="0" name="HEARTBEAT">
<description>The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot).</description>
<field type="uint8_t" name="type" enum="MAV_TYPE">Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)</field>
<field type="uint8_t" name="autopilot" enum="MAV_AUTOPILOT">Autopilot type / class. defined in MAV_AUTOPILOT ENUM</field>
<field type="uint8_t" name="base_mode" enum="MAV_MODE_FLAG" display="bitmask">System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h</field>
<field type="uint32_t" name="custom_mode">A bitfield for use for autopilot-specific flags.</field>
<field type="uint8_t" name="system_status" enum="MAV_STATE">System status flag, see MAV_STATE ENUM</field>
<field type="uint8_t" name="base_mode" enum="MAV_MODE_FLAG" display="bitmask">System mode bitfield, as defined by MAV_MODE_FLAG enum</field>
<field type="uint32_t" name="custom_mode">A bitfield for use for autopilot-specific flags</field>
<field type="uint8_t" name="system_status" enum="MAV_STATE">System status flag, as defined by MAV_STATE enum</field>
<field type="uint8_t_mavlink_version" name="mavlink_version">MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version</field>
</message>
<message id="1" name="SYS_STATUS">
@@ -2899,7 +2969,7 @@
</message>
<!-- reserved for PARAM_VALUE_UNION -->
<message id="20" name="PARAM_REQUEST_READ">
<description>Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -&gt; value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also http://qgroundcontrol.org/parameter_interface for a full documentation of QGroundControl and IMU code.</description>
<description>Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -&gt; value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also https://mavlink.io/en/protocol/parameter.html for a full documentation of QGroundControl and IMU code.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="char[16]" name="param_id">Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
@@ -2928,7 +2998,7 @@
</message>
<message id="24" name="GPS_RAW_INT">
<description>The global position, as returned by the Global Positioning System (GPS). This is
NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame).</description>
NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate.</description>
<field type="uint64_t" name="time_usec" units="us">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
<field type="uint8_t" name="fix_type" enum="GPS_FIX_TYPE">See the GPS_FIX_TYPE enum.</field>
<field type="int32_t" name="lat" units="degE7">Latitude (WGS84, EGM96 ellipsoid), in degrees * 1E7</field>
@@ -3093,7 +3163,7 @@
<field type="uint16_t" name="servo16_raw" units="us">Servo output 16 value, in microseconds</field>
</message>
<message id="37" name="MISSION_REQUEST_PARTIAL_LIST">
<description>Request a partial list of mission items from the system/component. http://qgroundcontrol.org/mavlink/waypoint_protocol. If start and end index are the same, just send one waypoint.</description>
<description>Request a partial list of mission items from the system/component. https://mavlink.io/en/protocol/mission.html. If start and end index are the same, just send one waypoint.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="int16_t" name="start_index">Start index, 0 by default</field>
@@ -3112,12 +3182,12 @@
</message>
<message id="39" name="MISSION_ITEM">
<description>Message encoding a mission item. This message is emitted to announce
the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). See also http://qgroundcontrol.org/mavlink/waypoint_protocol.</description>
the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). See also https://mavlink.io/en/protocol/mission.html.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="seq">Sequence</field>
<field type="uint8_t" name="frame" enum="MAV_FRAME">The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h</field>
<field type="uint16_t" name="command" enum="MAV_CMD">The scheduled action for the waypoint. see MAV_CMD in common.xml MAVLink specs</field>
<field type="uint8_t" name="frame" enum="MAV_FRAME">The coordinate system of the waypoint, as defined by MAV_FRAME enum</field>
<field type="uint16_t" name="command" enum="MAV_CMD">The scheduled action for the waypoint, as defined by MAV_CMD enum</field>
<field type="uint8_t" name="current">false:0, true:1</field>
<field type="uint8_t" name="autocontinue">autocontinue to next wp</field>
<field type="float" name="param1">PARAM1, see MAV_CMD enum</field>
@@ -3131,7 +3201,7 @@
<field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type, see MAV_MISSION_TYPE</field>
</message>
<message id="40" name="MISSION_REQUEST">
<description>Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. http://qgroundcontrol.org/mavlink/waypoint_protocol</description>
<description>Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. https://mavlink.io/en/protocol/mission.html</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="seq">Sequence</field>
@@ -3212,7 +3282,7 @@
<field type="float" name="param_value_max">Maximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)</field>
</message>
<message id="51" name="MISSION_REQUEST_INT">
<description>Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM_INT message. http://qgroundcontrol.org/mavlink/waypoint_protocol</description>
<description>Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM_INT message. https://mavlink.io/en/protocol/mission.html</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="seq">Sequence</field>
@@ -3223,7 +3293,7 @@
<description>Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint8_t" name="frame" enum="MAV_FRAME">Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.</field>
<field type="uint8_t" name="frame" enum="MAV_FRAME">Coordinate frame, as defined by MAV_FRAME enum. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.</field>
<field type="float" name="p1x" units="m">x position 1 / Latitude 1</field>
<field type="float" name="p1y" units="m">y position 1 / Longitude 1</field>
<field type="float" name="p1z" units="m">z position 1 / Altitude 1</field>
@@ -3233,7 +3303,7 @@
</message>
<message id="55" name="SAFETY_ALLOWED_AREA">
<description>Read out the safety zone the MAV currently assumes.</description>
<field type="uint8_t" name="frame" enum="MAV_FRAME">Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.</field>
<field type="uint8_t" name="frame" enum="MAV_FRAME">Coordinate frame, as defined by MAV_FRAME enum. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.</field>
<field type="float" name="p1x" units="m">x position 1 / Latitude 1</field>
<field type="float" name="p1y" units="m">y position 1 / Longitude 1</field>
<field type="float" name="p1z" units="m">z position 1 / Altitude 1</field>
@@ -3349,16 +3419,25 @@
<field type="uint16_t" name="chan7_raw" units="us">RC channel 7 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan8_raw" units="us">RC channel 8 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
<extensions/>
<field type="uint16_t" name="chan9_raw" units="us">RC channel 9 value, in microseconds. A value of UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan9_raw" units="us">RC channel 9 value, in microseconds. A value of 0 means to ignore this field.</field>
<field type="uint16_t" name="chan10_raw" units="us">RC channel 10 value, in microseconds. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan11_raw" units="us">RC channel 11 value, in microseconds. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan12_raw" units="us">RC channel 12 value, in microseconds. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan13_raw" units="us">RC channel 13 value, in microseconds. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan14_raw" units="us">RC channel 14 value, in microseconds. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan15_raw" units="us">RC channel 15 value, in microseconds. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan16_raw" units="us">RC channel 16 value, in microseconds. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan17_raw" units="us">RC channel 17 value, in microseconds. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan18_raw" units="us">RC channel 18 value, in microseconds. A value of 0 or UINT16_MAX means to ignore this field.</field>
</message>
<message id="73" name="MISSION_ITEM_INT">
<description>Message encoding a mission item. This message is emitted to announce
the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). See alsohttp://qgroundcontrol.org/mavlink/waypoint_protocol.</description>
the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). See also https://mavlink.io/en/protocol/mission.html.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="seq">Waypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).</field>
<field type="uint8_t" name="frame" enum="MAV_FRAME">The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h</field>
<field type="uint16_t" name="command" enum="MAV_CMD">The scheduled action for the waypoint. see MAV_CMD in common.xml MAVLink specs</field>
<field type="uint8_t" name="frame" enum="MAV_FRAME">The coordinate system of the waypoint, as defined by MAV_FRAME enum</field>
<field type="uint16_t" name="command" enum="MAV_CMD">The scheduled action for the waypoint, as defined by MAV_CMD enum</field>
<field type="uint8_t" name="current">false:0, true:1</field>
<field type="uint8_t" name="autocontinue">autocontinue to next wp</field>
<field type="float" name="param1">PARAM1, see MAV_CMD enum</field>
@@ -3384,8 +3463,8 @@
<description>Message encoding a command with parameters as scaled integers. Scaling depends on the actual command value.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint8_t" name="frame" enum="MAV_FRAME">The coordinate system of the COMMAND. see MAV_FRAME in mavlink_types.h</field>
<field type="uint16_t" name="command" enum="MAV_CMD">The scheduled action for the mission item. see MAV_CMD in common.xml MAVLink specs</field>
<field type="uint8_t" name="frame" enum="MAV_FRAME">The coordinate system of the COMMAND, as defined by MAV_FRAME enum</field>
<field type="uint16_t" name="command" enum="MAV_CMD">The scheduled action for the mission item, as defined by MAV_CMD enum</field>
<field type="uint8_t" name="current">false:0, true:1</field>
<field type="uint8_t" name="autocontinue">autocontinue to next wp</field>
<field type="float" name="param1">PARAM1, see MAV_CMD enum</field>
@@ -3613,6 +3692,8 @@
<field type="float" name="roll" units="rad">Roll angle in rad</field>
<field type="float" name="pitch" units="rad">Pitch angle in rad</field>
<field type="float" name="yaw" units="rad">Yaw angle in rad</field>
<extensions/>
<field type="float[21]" name="covariance">Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)</field>
</message>
<message id="102" name="VISION_POSITION_ESTIMATE">
<field type="uint64_t" name="usec" units="us">Timestamp (microseconds, synced to UNIX time or since system boot)</field>
@@ -3622,12 +3703,16 @@
<field type="float" name="roll" units="rad">Roll angle in rad</field>
<field type="float" name="pitch" units="rad">Pitch angle in rad</field>
<field type="float" name="yaw" units="rad">Yaw angle in rad</field>
<extensions/>
<field type="float[21]" name="covariance">Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)</field>
</message>
<message id="103" name="VISION_SPEED_ESTIMATE">
<field type="uint64_t" name="usec" units="us">Timestamp (microseconds, synced to UNIX time or since system boot)</field>
<field type="float" name="x" units="m/s">Global X speed</field>
<field type="float" name="y" units="m/s">Global Y speed</field>
<field type="float" name="z" units="m/s">Global Z speed</field>
<extensions/>
<field type="float[9]" name="covariance">Linear velocity covariance matrix (1st three entries - 1st row, etc.)</field>
</message>
<message id="104" name="VICON_POSITION_ESTIMATE">
<field type="uint64_t" name="usec" units="us">Timestamp (microseconds, synced to UNIX time or since system boot)</field>
@@ -3637,6 +3722,8 @@
<field type="float" name="roll" units="rad">Roll angle in rad</field>
<field type="float" name="pitch" units="rad">Pitch angle in rad</field>
<field type="float" name="yaw" units="rad">Yaw angle in rad</field>
<extensions/>
<field type="float[21]" name="covariance">Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)</field>
</message>
<message id="105" name="HIGHRES_IMU">
<description>The IMU readings in SI units in NED body frame</description>
@@ -3742,7 +3829,7 @@
</message>
<message id="113" name="HIL_GPS">
<description>The global position, as returned by the Global Positioning System (GPS). This is
NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame).</description>
NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate.</description>
<field type="uint64_t" name="time_usec" units="us">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
<field type="uint8_t" name="fix_type">0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.</field>
<field type="int32_t" name="lat" units="degE7">Latitude (WGS84), in degrees * 1E7</field>
@@ -3852,7 +3939,7 @@
<field type="uint8_t[110]" name="data">raw data (110 is enough for 12 satellites of RTCMv2)</field>
</message>
<message id="124" name="GPS2_RAW">
<description>Second GPS data. Coordinate frame is right-handed, Z-axis up (GPS frame).</description>
<description>Second GPS data.</description>
<field type="uint64_t" name="time_usec" units="us">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
<field type="uint8_t" name="fix_type" enum="GPS_FIX_TYPE">See the GPS_FIX_TYPE enum.</field>
<field type="int32_t" name="lat" units="degE7">Latitude (WGS84), in degrees * 1E7</field>
@@ -3993,6 +4080,8 @@
<field type="float" name="x" units="m">X position in meters (NED)</field>
<field type="float" name="y" units="m">Y position in meters (NED)</field>
<field type="float" name="z" units="m">Z position in meters (NED)</field>
<extensions/>
<field type="float[21]" name="covariance">Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)</field>
</message>
<message id="139" name="SET_ACTUATOR_CONTROL_TARGET">
<description>Set the vehicle attitude and body angular rates.</description>
@@ -4078,6 +4167,9 @@
<field type="int32_t" name="current_consumed" units="mAh">Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate</field>
<field type="int32_t" name="energy_consumed" units="hJ">Consumed energy, in HectoJoules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate</field>
<field type="int8_t" name="battery_remaining" units="%">Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery</field>
<extensions/>
<field type="int32_t" name="time_remaining" units="s">Remaining battery time, in seconds (1 = 1s = 0% energy left), 0: autopilot does not provide remaining battery time estimate</field>
<field type="uint8_t" name="charge_state" enum="MAV_BATTERY_CHARGE_STATE">State for extent of discharge, provided by autopilot for warning or external reactions</field>
</message>
<message id="148" name="AUTOPILOT_VERSION">
<description>Version and capability of autopilot software</description>
@@ -4167,7 +4259,7 @@
</message>
<message id="234" name="HIGH_LATENCY">
<description>Message appropriate for high latency connections like Iridium</description>
<field type="uint8_t" name="base_mode" enum="MAV_MODE_FLAG" display="bitmask">System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h</field>
<field type="uint8_t" name="base_mode" enum="MAV_MODE_FLAG" display="bitmask">System mode bitfield, as defined by MAV_MODE_FLAG enum.</field>
<field type="uint32_t" name="custom_mode" display="bitmask">A bitfield for use for autopilot-specific flags.</field>
<field type="uint8_t" name="landed_state" enum="MAV_LANDED_STATE">The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.</field>
<field type="int16_t" name="roll" units="cdeg">roll (centidegrees)</field>
@@ -4555,12 +4647,30 @@
</message>
<message id="330" name="OBSTACLE_DISTANCE">
<description>Obstacle distances in front of the sensor, starting from the left in increment degrees to the right</description>
<field type="uint64_t" name="time_usec" units="us">Timestamp (microseconds since system boot or since UNIX epoch)</field>
<field type="uint64_t" name="time_usec" units="us">Timestamp (microseconds since system boot or since UNIX epoch).</field>
<field type="uint8_t" name="sensor_type" enum="MAV_DISTANCE_SENSOR">Class id of the distance sensor type.</field>
<field type="uint16_t[72]" name="distances" units="cm">Distance of obstacles in front of the sensor starting on the left side. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstace is present. A value of UINT16_MAX for unknown/not used. In a array element, each unit corresponds to 1cm.</field>
<field type="uint16_t[72]" name="distances" units="cm">Distance of obstacles around the UAV with index 0 corresponding to local North. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm.</field>
<field type="uint8_t" name="increment" units="deg">Angular width in degrees of each array element.</field>
<field type="uint16_t" name="min_distance" units="cm">Minimum distance the sensor can measure in centimeters</field>
<field type="uint16_t" name="max_distance" units="cm">Maximum distance the sensor can measure in centimeters</field>
<field type="uint16_t" name="min_distance" units="cm">Minimum distance the sensor can measure in centimeters.</field>
<field type="uint16_t" name="max_distance" units="cm">Maximum distance the sensor can measure in centimeters.</field>
</message>
<message id="331" name="ODOMETRY">
<description>Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).</description>
<field type="uint64_t" name="time_usec" units="us">Timestamp (microseconds since system boot or since UNIX epoch).</field>
<field type="uint8_t" name="frame_id" enum="MAV_FRAME">Coordinate frame of reference for the pose data, as defined by MAV_FRAME enum.</field>
<field type="uint8_t" name="child_frame_id" enum="MAV_FRAME">Coordinate frame of reference for the velocity in free space (twist) data, as defined by MAV_FRAME enum.</field>
<field type="float" name="x" units="m">X Position</field>
<field type="float" name="y" units="m">Y Position</field>
<field type="float" name="z" units="m">Z Position</field>
<field type="float[4]" name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)</field>
<field type="float" name="vx" units="m/s">X linear speed</field>
<field type="float" name="vy" units="m/s">Y linear speed</field>
<field type="float" name="vz" units="m/s">Z linear speed</field>
<field type="float" name="rollspeed" units="rad/s">Roll angular speed</field>
<field type="float" name="pitchspeed" units="rad/s">Pitch angular speed</field>
<field type="float" name="yawspeed" units="rad/s">Yaw angular speed</field>
<field type="float[21]" name="pose_covariance">Pose (states: x, y, z, roll, pitch, yaw) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)</field>
<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>
</messages>
</mavlink>