{ "comment": "任意固件，任意载具", "version": 1, "mavCmdInfo": [ { "id": 22, "rawName": "MAV_CMD_NAV_TAKEOFF", "friendlyName": "起飞", "description": "起飞航点", "specifiesCoordinate": true, "friendlyEdit": true, "category": "Basic", "param1": { "label": "攻角", "units": "度", "default": 15, "decimalPlaces": 2 }, "param4": { "label": "航向", "units": "度", "nanUnchanged": true, "default": null, "decimalPlaces": 2 } }, { "id": 16, "rawName": "MAV_CMD_NAV_WAYPOINT", "friendlyName": "航点", "description": "在3维坐标内移动", "specifiesCoordinate": true, "friendlyEdit": true, "category": "Basic", "param1": { "label": "保持", "units": "秒", "default": 0, "decimalPlaces": 0 }, "param2": { "label": "接受", "units": "米", "default": 3, "decimalPlaces": 2 }, "param3": { "label": "半径", "units": "m", "default": 0, "decimalPlaces": 2 }, "param4": { "label": "航向", "units": "度", "nanUnchanged": true, "default": null, "decimalPlaces": 2 } }, { "id": 20, "rawName": "MAV_CMD_NAV_RETURN_TO_LAUNCH", "friendlyName": "返航", "description": "返回起飞的地点", "friendlyEdit": true, "category": "Basic" }, { "id": 21, "rawName": "MAV_CMD_NAV_LAND", "friendlyName": "降落", "description": "降落在指定区域", "specifiesCoordinate": true, "friendlyEdit": true, "category": "Basic", "param1": { "label": "中止高度", "units": "米", "default": 0, "decimalPlaces": 2 }, "param4": { "label": "航向", "units": "度", "nanUnchanged": true, "default": null, "decimalPlaces": 2 } }, { "id": 17, "rawName": "MAV_CMD_NAV_LOITER_UNLIM", "friendlyName": "盘旋", "description": "以指定半径盘旋", "specifiesCoordinate": true, "friendlyEdit": true, "category": "Loiter", "param3": { "label": "半径", "units": "米", "default": 50.0, "decimalPlaces": 2 }, "param4": { "label": "航向", "units": "度", "nanUnchanged": true, "default": null, "decimalPlaces": 2 } }, { "id": 18, "rawName": "MAV_CMD_NAV_LOITER_TURNS", "friendlyName": "盘旋 (圈数)", "description": "盘旋指定圈数", "specifiesCoordinate": true, "friendlyEdit": true, "category": "Loiter", "param1": { "label": "圈数", "default": 1, "decimalPlaces": 0 }, "param3": { "label": "半径", "units": "米", "default": 50.0, "decimalPlaces": 2 }, "param4": { "label": "航线", "units": "度", "nanUnchanged": true, "default": null, "decimalPlaces": 2 } }, { "id": 19, "rawName": "MAV_CMD_NAV_LOITER_TIME", "friendlyName": "盘旋 (时间)", "description": "盘旋指定时间", "specifiesCoordinate": true, "friendlyEdit": true, "category": "Loiter", "param1": { "label": "保持时间", "units": "秒", "default": 30, "decimalPlaces": 0 }, "param3": { "label": "半径", "units": "米", "default": 50.0, "decimalPlaces": 2 }, "param4": { "label": "航向", "units": "度", "nanUnchanged": true, "default": null, "decimalPlaces": 2 } }, { "id": 31, "rawName": "MAV_CMD_NAV_LOITER_TO_ALT", "friendlyName": "盘旋 (海拔)", "description": "盘旋直到达到指定高度", "specifiesCoordinate": true, "friendlyEdit": true, "category": "Loiter", "param1": { "label": "等待航向", "enumStrings": "假,真", "enumValues": "0,1", "default": 0, "decimalPlaces": 0 }, "param2": { "label": "半径", "units": "m", "default": 50.0, "decimalPlaces": 2 }, "param4": { "label": "退出方式", "enumStrings": "中心,切线", "enumValues": "0,1", "default": 1, "decimalPlaces": 0 } }, { "id": 30, "rawName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT", "friendlyName": "改变高度", "description": "在当前的航向上持续爬升至指定高度，当到达指定高度后退出指令", "specifiesCoordinate": false, "specifiesAltitudeOnly": true, "friendlyEdit": true, "category": "Flight control", "param1": { "label": "模式", "enumStrings": "爬升,平飞,下滑", "enumValues": "1,0,2", "default": 1, "decimalPlaces": 0 } }, { "id": 84, "rawName": "MAV_CMD_NAV_VTOL_TAKEOFF", "friendlyName": "VTOL起飞-转换", "description": "使用垂直起降方式起飞，飞到指定地点", "specifiesCoordinate": true, "friendlyEdit": true, "category": "VTOL", "param4": { "label": "航向", "units": "度", "nanUnchanged": true, "default": null, "decimalPlaces": 2 } }, { "id": 85, "rawName": "MAV_CMD_NAV_VTOL_LAND", "friendlyName": "VTOL转换-降落", "description": "垂直起降飞行模式转换和降落", "specifiesCoordinate": true, "friendlyEdit": true, "category": "VTOL", "param4": { "label": "航向", "units": "度", "nanUnchanged": true, "default": null, "decimalPlaces": 2 } }, { "id": 3000, "rawName": "MAV_CMD_DO_VTOL_TRANSITION", "friendlyName": "VTOL转换", "description": "切换垂直起降飞行模式", "category": "VTOL", "param1": { "label": "模式", "default": 3, "enumStrings": "盘旋模式,任务模式", "enumValues": "3,4" } }, { "id": 112, "rawName": "MAV_CMD_CONDITION_DELAY", "friendlyName": "延时", "description": "延迟任务指定时间", "friendlyEdit": true, "category": "Basic", "param1": { "label": "保持", "units": "秒", "default": 30, "decimalPlaces": 0 } }, { "id": 93, "rawName": "MAV_CMD_NAV_DELAY", "friendlyName": "延时（时间）", "description": "延迟任务指定时间", "param1": { "label": "保持", "units": "秒", "default": 30, "decimalPlaces": 0 }, "param2": { "label": "时 (utc)", "default": 0, "decimalPlaces": 0 }, "param3": { "label": "分 (utc)", "default": 0, "decimalPlaces": 0 }, "param4": { "label": "秒 (utc)", "default": 0, "decimalPlaces": 0 } }, { "id": 113, "rawName": "MAV_CMD_CONDITION_CHANGE_ALT", "description": "推迟任务直到到达指定高度", "friendlyName": "等待海拔", "category": "Conditionals", "specifiesCoordinate": false, "specifiesAltitudeOnly": true, "param1": { "label": "速率", "units": "米每秒", "default": 5, "decimalPlaces": 2 } }, { "id": 114, "rawName": "MAV_CMD_CONDITION_DISTANCE", "description": "推迟任务直到到达指定距离", "friendlyName": "等待距离", "category": "Conditionals", "param1": { "label": "距离", "units": "米", "default": 10, "decimalPlaces": 2 } }, { "id": 115, "rawName": "MAV_CMD_CONDITION_YAW", "friendlyName": "等待航向", "description": "推迟任务直到航向到达指定角度", "category": "Conditionals", "param1": { "label": "航向", "units": "度", "default": 0, "decimalPlaces": 1 }, "param2": { "label": "角速度", "units": "度每秒", "default": 5, "decimalPlaces": 1 }, "param3": { "label": "方向", "enumStrings": "顺时针,逆时针", "enumValues": "1,-1", "default": 1 }, "param4": { "label": "偏差", "enumStrings": "相对,绝对", "enumValues": "1,0", "default": 1 } }, { "id": 177, "rawName": "MAV_CMD_DO_JUMP", "friendlyName": "转跳航点", "description": "转跳至指定点执行任务", "friendlyEdit": true, "category": "Advanced", "param1": { "label": "编号", "default": 1, "decimalPlaces": 0 }, "param2": { "label": "重复", "default": 10, "decimalPlaces": 0 } }, { "id": 178, "rawName": "MAV_CMD_DO_CHANGE_SPEED", "friendlyName": "改变速度", "description": "改变速度和油门值", "category": "Flight control", "param1": { "label": "类型", "enumStrings": "空速,地速", "enumValues": "0,1", "default": 0 }, "param2": { "label": "速度", "units": "米每秒", "default": 0 }, "param3": { "label": "油门", "units": "%", "default": 0 }, "param4": { "label": "偏差", "enumStrings": "相对,绝对", "enumValues": "1,0", "default": 0 } }, { "id": 189, "rawName": "MAV_CMD_DO_LAND_START", "friendlyName": "开始降落", "description": "开始降落程序", "friendlyEdit": true, "category": "Flight control" } ] }