1070 lines
41 KiB
JSON
1070 lines
41 KiB
JSON
{
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"comment": "Any Firmware, Any Vehicle",
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"version": 1,
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"mavCmdInfo": [
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{
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"comment": "MAV_CMD_NAV_LAST: Used for mission settings / planned home position waypoint",
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"id": 95,
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"rawName": "HomeRaw",
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"friendlyName": "Home Position",
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"description": "Planned home position for mission.",
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"specifiesCoordinate": true,
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"friendlyEdit": true,
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"category": "Basic",
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"param5": {
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"label": "Latitude",
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"default": 37.803784,
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"decimalPlaces": 7
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},
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"param6": {
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"label": "Longitude",
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"default": -122.462276,
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"decimalPlaces": 7
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}
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},
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{
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"id": 16,
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"rawName": "MAV_CMD_NAV_WAYPOINT",
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"friendlyName": "Waypoint",
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"description": "Travel to a position in 3D space.",
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"specifiesCoordinate": true,
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"friendlyEdit": true,
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"category": "Basic",
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"param1": {
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"label": "Hold",
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"units": "secs",
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"default": 0,
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"decimalPlaces": 0
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},
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"param2": {
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"label": "Acceptance",
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"units": "m",
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"default": 3,
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"decimalPlaces": 2
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},
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"param3": {
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"label": "PassThru",
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"units": "m",
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"default": 0,
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"decimalPlaces": 2
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},
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"param4": {
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"label": "Heading",
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"units": "deg",
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"nanUnchanged": true,
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"default": null,
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"decimalPlaces": 2
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}
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},
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{
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"id": 17,
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"rawName": "MAV_CMD_NAV_LOITER_UNLIM",
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"friendlyName": "Loiter",
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"description": "Travel to a position and Loiter around the specified radius indefinitely.",
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"specifiesCoordinate": true,
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"friendlyEdit": true,
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"category": "Loiter",
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"param3": {
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"label": "Radius",
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"units": "m",
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"default": 50.0,
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"decimalPlaces": 2
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},
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"param4": {
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"label": "Heading",
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"units": "deg",
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"nanUnchanged": true,
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"default": null,
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"decimalPlaces": 2
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}
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},
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{
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"id": 18,
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"rawName": "MAV_CMD_NAV_LOITER_TURNS",
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"friendlyName": "Loiter (turns)",
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"description": "Travel to a position and Loiter around the specified radius for a number of turns.",
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"specifiesCoordinate": true,
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"friendlyEdit": true,
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"category": "Loiter",
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"param1": {
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"label": "Turns",
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"default": 1,
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"decimalPlaces": 0
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},
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"param3": {
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"label": "Radius",
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"units": "m",
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"default": 50.0,
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"decimalPlaces": 2
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},
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"param4": {
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"label": "Heading",
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"units": "deg",
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"nanUnchanged": true,
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"default": null,
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"decimalPlaces": 2
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}
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},
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{
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"id": 19,
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"rawName": "MAV_CMD_NAV_LOITER_TIME",
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"friendlyName": "Loiter (time)",
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"description": "Travel to a position and Loiter around the specified radius for an amount of time.",
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"specifiesCoordinate": true,
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"friendlyEdit": true,
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"category": "Loiter",
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"param1": {
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"label": "Hold",
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"units": "secs",
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"default": 30,
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"decimalPlaces": 0
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},
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"param3": {
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"label": "Radius",
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"units": "m",
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"default": 50.0,
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"decimalPlaces": 2
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},
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"param4": {
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"label": "Heading",
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"units": "deg",
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"nanUnchanged": true,
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"default": null,
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"decimalPlaces": 2
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}
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},
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{
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"id": 20,
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"rawName": "MAV_CMD_NAV_RETURN_TO_LAUNCH",
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"friendlyName": "Return To Launch",
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"description": "Send the vehicle back to the launch position.",
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"friendlyEdit": true,
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"category": "Basic"
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},
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{
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"id": 21,
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"rawName": "MAV_CMD_NAV_LAND",
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"friendlyName": "Land",
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"description": "Land vehicle at the specified location.",
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"specifiesCoordinate": true,
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"friendlyEdit": true,
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"category": "Basic",
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"param1": {
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"label": "Abort Alt",
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"units": "m",
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"default": 0,
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"decimalPlaces": 2
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},
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"param4": {
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"label": "Heading",
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"units": "deg",
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"nanUnchanged": true,
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"default": null,
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"decimalPlaces": 2
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}
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},
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{
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"id": 22,
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"rawName": "MAV_CMD_NAV_TAKEOFF",
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"friendlyName": "Takeoff",
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"description": "Take off from the ground and travel towards the specified position.",
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"specifiesCoordinate": true,
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"friendlyEdit": true,
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"category": "Basic",
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"param1": {
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"label": "Pitch",
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"units": "deg",
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"default": 15,
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"decimalPlaces": 2
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},
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"param4": {
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"label": "Heading",
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"units": "deg",
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"nanUnchanged": true,
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"default": null,
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"decimalPlaces": 2
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}
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},
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{ "id": 23, "rawName": "MAV_CMD_NAV_LAND_LOCAL", "friendlyName": "Land local" },
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{ "id": 24, "rawName": "MAV_CMD_NAV_TAKEOFF_LOCAL", "friendlyName": "Takeoff local" },
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{ "id": 25, "rawName": "MAV_CMD_NAV_FOLLOW", "friendlyName": "Nav follow" },
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{
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"id": 30,
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"rawName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT",
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"friendlyName": "Change Altitude",
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"description": "Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command.",
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"specifiesCoordinate": false,
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"specifiesAltitudeOnly": true,
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"friendlyEdit": true,
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"category": "Flight control",
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"param1": {
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"label": "Mode",
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"enumStrings": "Climb,Neutral,Descend",
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"enumValues": "1,0,2",
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"default": 1,
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"decimalPlaces": 0
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}
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},
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{
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"id": 31,
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"rawName": "MAV_CMD_NAV_LOITER_TO_ALT",
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"friendlyName": "Loiter (altitude)",
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"description": "Loiter at specified position until altitude reached.",
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"specifiesCoordinate": true,
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"friendlyEdit": true,
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"category": "Loiter",
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"param1": {
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"label": "Heading wait",
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"enumStrings": "False,True",
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"enumValues": "0,1",
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"default": 0,
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"decimalPlaces": 0
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},
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"param2": {
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"label": "Radius",
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"units": "m",
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"default": 50.0,
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"decimalPlaces": 2
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},
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"param4": {
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"label": "Exit loiter from",
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"enumStrings": "Center,Tangent",
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"enumValues": "0,1",
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"default": 1,
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"decimalPlaces": 0
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}
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},
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{ "id": 32, "rawName": "MAV_CMD_DO_FOLLOW", "friendlyName": "Follow Me" },
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{ "id": 33, "rawName": "MAV_CMD_DO_FOLLOW_REPOSITION", "friendlyName": "Vehicle reposition" },
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{
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"id": 81,
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"rawName": "MAV_CMD_NAV_PATHPLANNING",
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"friendlyName": "Path planning",
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"description": "Control autonomous path planning.",
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"specifiesCoordinate": true,
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"friendlyEdit": true,
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"category": "Advanced",
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"param1": {
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"label": "Local planning",
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"enumStrings": "Disable,Enable,Enable+reset",
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"enumValues": "0,1,2",
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"default": 1,
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"decimalPlaces": 0
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},
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"param2": {
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"label": "Full planning",
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"enumStrings": "Disable,Enable,Enable+reset,Enable+reset route only",
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"enumValues": "0,1,2,3",
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"default": 1,
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"decimalPlaces": 0
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},
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"param4": {
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"label": "Heading goal",
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"default": 0,
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"units": "deg",
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"decimalPlaces": 2
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}
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},
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{
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"id": 82,
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"rawName": "MAV_CMD_NAV_SPLINE_WAYPOINT",
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"friendlyName": "Spline waypoint",
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"description": "Travel to a position in 3D space using spline path.",
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"specifiesCoordinate": true,
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"friendlyEdit": true,
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"category": "Basic",
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"param1": {
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"label": "Hold",
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"units": "secs",
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"default": 0,
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"decimalPlaces": 0
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}
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},
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{ "id": 83, "rawName": "MAV_CMD_NAV_ALTITUDE_WAIT", "friendlyName": "Altitude wait" },
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{
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"id": 84,
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"rawName": "MAV_CMD_NAV_VTOL_TAKEOFF",
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"friendlyName": "VTOL takeoff",
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"description": "Takeoff in VTOL mode, transition to forward flight and fly to the specified location.",
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"specifiesCoordinate": true,
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"friendlyEdit": true,
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"category": "VTOL",
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"param4": {
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"label": "Heading",
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"units": "deg",
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"nanUnchanged": true,
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"default": null,
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"decimalPlaces": 2
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}
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},
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{
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"id": 85,
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"rawName": "MAV_CMD_NAV_VTOL_LAND",
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"friendlyName": "VTOL transition and land",
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"description": "Transition to VTOL mode and land.",
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"specifiesCoordinate": true,
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"friendlyEdit": true,
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"category": "VTOL",
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"param4": {
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"label": "Heading",
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"units": "deg",
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"nanUnchanged": true,
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"default": null,
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"decimalPlaces": 2
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}
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},
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{
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"id": 92,
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"rawName": "MAV_CMD_NAV_GUIDED_ENABLE",
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"friendlyName": "Guided enable",
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"description": "Enable/Disabled guided mode.",
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"param1": {
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"label": "Enable",
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"enumStrings": "Disable,Enable",
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"enumValues": "0,1",
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"default": 1,
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"decimalPlaces": 0
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}
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},
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{
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"id": 93,
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"rawName": "MAV_CMD_NAV_DELAY",
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"friendlyName": "Delay until",
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"description": "Delay unti the specified time is reached.",
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"param1": {
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"label": "Hold",
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"units": "secs",
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"default": 30,
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"decimalPlaces": 0
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},
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"param2": {
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"label": "Hour (utc)",
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"default": 0,
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"decimalPlaces": 0
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},
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"param3": {
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"label": "Min (utc)",
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"default": 0,
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"decimalPlaces": 0
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},
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"param4": {
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"label": "Sec (utc)",
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"default": 0,
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"decimalPlaces": 0
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}
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},
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{
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"id": 112,
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"rawName": "MAV_CMD_CONDITION_DELAY",
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"friendlyName": "Delay",
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"description": "Delay the mission for the number of seconds.",
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"friendlyEdit": true,
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"category": "Basic",
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"param1": {
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"label": "Hold",
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"units": "secs",
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"default": 30,
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"decimalPlaces": 0
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}
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},
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{
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"id": 113,
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"rawName": "MAV_CMD_CONDITION_CHANGE_ALT",
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"description": "Delay the mission until the specified altitide is reached.",
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"friendlyName": "Wait for altitude",
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"category": "Conditionals",
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"specifiesCoordinate": false,
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"specifiesAltitudeOnly": true,
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"param1": {
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"label": "Rate",
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"units": "m/s",
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"default": 5,
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"decimalPlaces": 2
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}
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},
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{
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"id": 114,
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"rawName": "MAV_CMD_CONDITION_DISTANCE",
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"description": "Delay the mission until within the specified distance of the next waypoint.",
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"friendlyName": "Wait for distance",
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"category": "Conditionals",
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"param1": {
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"label": "Distance",
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"units": "m",
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"default": 10,
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"decimalPlaces": 2
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}
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},
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{
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"id": 115,
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"rawName": "MAV_CMD_CONDITION_YAW",
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"friendlyName": "Wait for Heading",
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"description": "Delay the mission until the specified heading is reached.",
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"category": "Conditionals",
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"param1": {
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"label": "Heading",
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"units": "deg",
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"default": 0,
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"decimalPlaces": 1
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},
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"param2": {
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"label": "Rate",
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"units": "degrees/s",
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"default": 5,
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"decimalPlaces": 1
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},
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"param3": {
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"label": "Direction",
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"enumStrings": "Clockwise,Counter-Clockwise",
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"enumValues": "1,-1",
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"default": 1
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},
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"param4": {
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"label": "Offset",
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"enumStrings": "Relative,Absolute",
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"enumValues": "1,0",
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"default": 1
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}
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},
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{ "id": 176, "rawName": "MAV_CMD_DO_SET_MODE", "friendlyName": "Set mode" },
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{
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"id": 176,
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"rawName": "MAV_CMD_DO_SET_MODE",
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"friendlyName": "Set flight mode",
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"description": "Set flight mode.",
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"category": "Advanced",
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"param1": {
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"label": "Mode",
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"default": 0,
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"decimalPlaces": 0
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},
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"param2": {
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"label": "Custom Mode",
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"default": 0,
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"decimalPlaces": 0
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},
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"param3": {
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"label": "Sub Mode",
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"default": 0,
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"decimalPlaces": 0
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}
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},
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{
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"id": 177,
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"rawName": "MAV_CMD_DO_JUMP",
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"friendlyName": "Jump to item",
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"description": "Mission will continue at the specified item.",
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"friendlyEdit": true,
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"category": "Advanced",
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"param1": {
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"label": "Item #",
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"default": 1,
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"decimalPlaces": 0
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},
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"param2": {
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"label": "Repeat",
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"default": 10,
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"decimalPlaces": 0
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}
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},
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{
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"id": 178,
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"rawName": "MAV_CMD_DO_CHANGE_SPEED",
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"friendlyName": "Change speed",
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"description": "Change speed and/or throttle set points.",
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"category": "Flight control",
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"param1": {
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"label": "Type",
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"enumStrings": "Airspeed,Ground Speed",
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"enumValues": "0,1",
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"default": 0
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},
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"param2": {
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"label": "Speed",
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"units": "m/s",
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"default": 0
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},
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"param3": {
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"label": "Throttle",
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"units": "%",
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"default": 2
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},
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"param4": {
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"label": "Offset",
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"enumStrings": "Relative,Absolute",
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"enumValues": "1,0",
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"default": 0
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}
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},
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{
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"id": 179,
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"rawName": "MAV_CMD_DO_SET_HOME",
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"friendlyName": "Set launch location",
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"description": "Changes the launch location either to the current location or a specified location.",
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"specifiesCoordinate": true,
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"standaloneCoordinate": true,
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"friendlyEdit": true,
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"category": "Advanced",
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"param1": {
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"label": "Mode",
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"enumStrings": "Vehicle position,Specified position",
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"enumValues": "1,0",
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"default": 0
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}
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},
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{ "id": 180, "rawName": "MAV_CMD_DO_SET_PARAMETER", "friendlyName": "Set Parameter" },
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{
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"id": 181,
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"rawName": "MAV_CMD_DO_SET_RELAY",
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"friendlyName": "Set relay",
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"description": "Set relay to a condition.",
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"param1": {
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"label": "Relay #",
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"default": 0,
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"decimalPlaces": 0
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},
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"param2": {
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"label": "Value",
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"default": 0
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}
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},
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{
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"id": 182,
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"rawName": "MAV_CMD_DO_REPEAT_RELAY",
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"friendlyName": "Cycle relay",
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"description": "Cycle relay on/off for desired cycles/time.",
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"param1": {
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"label": "Relay #",
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"default": 0,
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"decimalPlaces": 0
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},
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"param2": {
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"label": "Cycles",
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"default": 1,
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"units": "count",
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"decimalPlaces": 0
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},
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"param3": {
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"label": "Time",
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"default": 10,
|
|
"units": "secs",
|
|
"decimalPlaces": 0
|
|
}
|
|
},
|
|
{
|
|
"id": 183,
|
|
"rawName": "MAV_CMD_DO_SET_SERVO",
|
|
"friendlyName": "Set servo",
|
|
"description": "Set servo to specified PWM value.",
|
|
"friendlyEdit": true,
|
|
"param1": {
|
|
"label": "Servo",
|
|
"default": 1,
|
|
"decimalPlaces": 0
|
|
},
|
|
"param2": {
|
|
"label": "PWM",
|
|
"default": 1500,
|
|
"decimalPlaces": 0
|
|
}
|
|
},
|
|
{
|
|
"id": 184,
|
|
"rawName": "MAV_CMD_DO_REPEAT_SERVO",
|
|
"friendlyName": "Cycle servo",
|
|
"description": "Set servo to specified PWM value.",
|
|
"param1": {
|
|
"label": "Servo",
|
|
"default": 1,
|
|
"decimalPlaces": 0
|
|
},
|
|
"param2": {
|
|
"label": "PWM",
|
|
"default": 1000,
|
|
"decimalPlaces": 0
|
|
},
|
|
"param3": {
|
|
"label": "Cycles",
|
|
"default": 1,
|
|
"units": "count",
|
|
"decimalPlaces": 0
|
|
},
|
|
"param4": {
|
|
"label": "Time",
|
|
"default": 10,
|
|
"units": "secs",
|
|
"decimalPlaces": 0
|
|
}
|
|
},
|
|
{ "id": 185, "rawName": "MAV_CMD_DO_FLIGHTTERMINATION", "friendlyName": "Flight termination" },
|
|
{
|
|
"id": 189,
|
|
"rawName": "MAV_CMD_DO_LAND_START",
|
|
"friendlyName": "Land start",
|
|
"description": "Marker to indicate start of landing sequence.",
|
|
"friendlyEdit": true,
|
|
"category": "Flight control"
|
|
},
|
|
{ "id": 190, "rawName": "MAV_CMD_DO_RALLY_LAND", "friendlyName": "Rally land" },
|
|
{ "id": 191, "rawName": "MAV_CMD_DO_GO_AROUND", "friendlyName": "Go around" },
|
|
{ "id": 192, "rawName": "MAV_CMD_DO_REPOSITION", "friendlyName": "Reposition" },
|
|
{ "id": 193, "rawName": "MAV_CMD_DO_PAUSE_CONTINUE", "friendlyName": "Pause/Continue" },
|
|
{
|
|
"id": 194,
|
|
"rawName": "MAV_CMD_DO_SET_REVERSE",
|
|
"friendlyName": "Set moving direction" ,
|
|
"description": "Set moving direction to forward or reverse.",
|
|
"friendlyEdit": true,
|
|
"category": "Advanced",
|
|
"param1": {
|
|
"label": "Direction",
|
|
"enumStrings": "Forward,Reverse",
|
|
"enumValues": "0,1",
|
|
"default": 0
|
|
}
|
|
},
|
|
{
|
|
"id": 195,
|
|
"rawName": "MAV_CMD_DO_SET_ROI_LOCATION",
|
|
"friendlyName": "Region of interest (ROI)" ,
|
|
"description": "Sets the region of interest for cameras.",
|
|
"specifiesCoordinate": true,
|
|
"standaloneCoordinate": true,
|
|
"friendlyEdit": true,
|
|
"category": "Camera"
|
|
},
|
|
{
|
|
"id": 196,
|
|
"rawName": "MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET",
|
|
"friendlyName": "ROI to next waypoint" ,
|
|
"description": "Sets the region of interest to point towards the next waypoint with optional offsets.",
|
|
"specifiesCoordinate": false,
|
|
"standaloneCoordinate": true,
|
|
"friendlyEdit": true,
|
|
"category": "Camera",
|
|
"param5": {
|
|
"label": "Pitch offset",
|
|
"default": 0,
|
|
"units": "deg",
|
|
"decimalPlaces": 0
|
|
},
|
|
"param6": {
|
|
"label": "Roll offset",
|
|
"default": 0,
|
|
"units": "deg",
|
|
"decimalPlaces": 0
|
|
},
|
|
"param7": {
|
|
"label": "Yaw offset",
|
|
"default": 0,
|
|
"units": "deg",
|
|
"decimalPlaces": 0
|
|
}
|
|
},
|
|
{
|
|
"id": 197,
|
|
"rawName": "MAV_CMD_DO_SET_ROI_NONE",
|
|
"friendlyName": "Cancel ROI" ,
|
|
"description": "Cancels the region of interest.",
|
|
"specifiesCoordinate": false,
|
|
"friendlyEdit": true,
|
|
"category": "Camera"
|
|
},
|
|
{ "id": 200, "rawName": "MAV_CMD_DO_CONTROL_VIDEO", "friendlyName": "Control video" },
|
|
{
|
|
"id": 201,
|
|
"rawName": "MAV_CMD_DO_SET_ROI",
|
|
"friendlyName": "Region of interest" ,
|
|
"description": "Sets the region of interest for cameras.",
|
|
"specifiesCoordinate": true,
|
|
"standaloneCoordinate": true,
|
|
"friendlyEdit": true,
|
|
"category": "Camera",
|
|
"param1": {
|
|
"label": "Mode",
|
|
"enumStrings": "None,Next waypoint,Mission item,Location,ROI item",
|
|
"enumValues": "0,1,2,3,4",
|
|
"default": 3,
|
|
"decimalPlaces": 0
|
|
},
|
|
"param2": {
|
|
"label": "Mission Index",
|
|
"default": 0,
|
|
"decimalPlaces": 0
|
|
},
|
|
"param3": {
|
|
"label": "ROI Index",
|
|
"default": 0,
|
|
"decimalPlaces": 0
|
|
}
|
|
},
|
|
{
|
|
"id": 202,
|
|
"rawName": "MAV_CMD_DO_DIGICAM_CONFIGURE",
|
|
"friendlyName": "Camera config",
|
|
"description": "Configure onboard camera controller.",
|
|
"category": "Camera",
|
|
"param1": {
|
|
"label": "Mode",
|
|
"default": 0,
|
|
"decimalPlaces": 0
|
|
},
|
|
"param2": {
|
|
"label": "Shutter spd",
|
|
"default": 60,
|
|
"units": "1/secs",
|
|
"decimalPlaces": 0
|
|
},
|
|
"param3": {
|
|
"label": "Aperture",
|
|
"default": 4,
|
|
"units": "F stop",
|
|
"decimalPlaces": 1
|
|
},
|
|
"param4": {
|
|
"label": "ISO",
|
|
"default": 200,
|
|
"decimalPlaces": 0
|
|
},
|
|
"param5": {
|
|
"label": "Exposure",
|
|
"default": 0,
|
|
"decimalPlaces": 0
|
|
},
|
|
"param6": {
|
|
"label": "Command",
|
|
"default": 0,
|
|
"decimalPlaces": 0
|
|
},
|
|
"param7": {
|
|
"label": "Cut off",
|
|
"default": 0,
|
|
"decimalPlaces": 2
|
|
}
|
|
},
|
|
{
|
|
"id": 203,
|
|
"friendlyName": "Camera control",
|
|
"rawName": "MAV_CMD_DO_DIGICAM_CONTROL",
|
|
"description": "Control onboard camera.",
|
|
"category": "Camera",
|
|
"param1": {
|
|
"label": "Session",
|
|
"default": 0,
|
|
"decimalPlaces": 0
|
|
},
|
|
"param2": {
|
|
"label": "Zoom",
|
|
"default": 0,
|
|
"decimalPlaces": 3
|
|
},
|
|
"param3": {
|
|
"label": "Step",
|
|
"default": 0,
|
|
"decimalPlaces": 3
|
|
},
|
|
"param4": {
|
|
"label": "Focus lock",
|
|
"default": 0,
|
|
"decimalPlaces": 0
|
|
},
|
|
"param5": {
|
|
"label": "Command",
|
|
"default": 0,
|
|
"decimalPlaces": 0
|
|
},
|
|
"param6": {
|
|
"label": "Id",
|
|
"default": 0,
|
|
"decimalPlaces": 0
|
|
}
|
|
},
|
|
{
|
|
"id": 204,
|
|
"rawName": "MAV_CMD_DO_MOUNT_CONFIGURE",
|
|
"friendlyName": "Configure Mount",
|
|
"description": "Configure the vehicle mount (e.g. gimbal).",
|
|
"category": "Advanced",
|
|
"param1": {
|
|
"label": "Mode",
|
|
"default": 0,
|
|
"decimalPlaces": 0,
|
|
"enumStrings": "Retract,Neutral,Mavlink Targeting,RC Targeting,GPS Point",
|
|
"enumValues": "0,1,2,3,4"
|
|
},
|
|
"param2": {
|
|
"label": "Stabilize Roll",
|
|
"default": 0,
|
|
"decimalPlaces": 0,
|
|
"enumStrings": "No,Yes",
|
|
"enumValues": "0,1"
|
|
},
|
|
"param3": {
|
|
"label": "Stabilize Pitch",
|
|
"default": 0,
|
|
"decimalPlaces": 0,
|
|
"enumStrings": "No,Yes",
|
|
"enumValues": "0,1"
|
|
},
|
|
"param4": {
|
|
"label": "Stabilize Yaw",
|
|
"default": 0,
|
|
"decimalPlaces": 0,
|
|
"enumStrings": "No,Yes",
|
|
"enumValues": "0,1"
|
|
}
|
|
},
|
|
{
|
|
"id": 205,
|
|
"rawName": "MAV_CMD_DO_MOUNT_CONTROL",
|
|
"friendlyName": "Control Mount",
|
|
"description": "Control the vehicle mount (e.g. gimbal).",
|
|
"category": "Advanced",
|
|
"param1": {
|
|
"label": "Lat/Pitch",
|
|
"default": 0,
|
|
"units": "deg",
|
|
"decimalPlaces": 7
|
|
},
|
|
"param2": {
|
|
"label": "Lon/Roll",
|
|
"default": 0,
|
|
"units": "deg",
|
|
"decimalPlaces": 7
|
|
},
|
|
"param3": {
|
|
"label": "Alt/Yaw",
|
|
"default": 0,
|
|
"decimalPlaces": 7
|
|
},
|
|
"param7": {
|
|
"label": "Mode",
|
|
"default": 0,
|
|
"decimalPlaces": 0,
|
|
"enumStrings": "Retract,Neutral,Mavlink Targeting,RC Targeting,GPS Point",
|
|
"enumValues": "0,1,2,3,4"
|
|
}
|
|
},
|
|
{
|
|
"id": 206,
|
|
"rawName": "MAV_CMD_DO_SET_CAM_TRIGG_DIST",
|
|
"friendlyName": "Camera trigger distance",
|
|
"description": "Set camera trigger distance.",
|
|
"category": "Camera",
|
|
"param1": {
|
|
"label": "Distance",
|
|
"default": 25,
|
|
"units": "m",
|
|
"decimalPlaces": 2
|
|
}
|
|
},
|
|
{
|
|
"id": 207,
|
|
"rawName": "MAV_CMD_DO_FENCE_ENABLE",
|
|
"friendlyName": "Enable geofence",
|
|
"description": "Enable/Disable geofence.",
|
|
"specifiesCoordinate": false,
|
|
"friendlyEdit": true,
|
|
"category": "Safety",
|
|
"param1": {
|
|
"label": "Enable",
|
|
"enumStrings": "Disable,Disable floor only,Enable",
|
|
"enumValues": "0,2,1",
|
|
"default": 1,
|
|
"decimalPlaces": 0
|
|
}
|
|
},
|
|
{
|
|
"id": 208,
|
|
"rawName": "MAV_CMD_DO_PARACHUTE",
|
|
"friendlyName": "Trigger parachute",
|
|
"description": "Enable/Disable geofence.",
|
|
"specifiesCoordinate": false,
|
|
"friendlyEdit": true,
|
|
"category": "Safety",
|
|
"param1": {
|
|
"label": "Trigger",
|
|
"enumStrings": "Disable,Enable,Release",
|
|
"enumValues": "0,1,2",
|
|
"default": 1,
|
|
"decimalPlaces": 0
|
|
}
|
|
},
|
|
{ "id": 209, "rawName": "MAV_CMD_DO_MOTOR_TEST", "friendlyName": "Motor test" },
|
|
{
|
|
"id": 210,
|
|
"rawName": "MAV_CMD_DO_INVERTED_FLIGHT",
|
|
"friendlyName": "Inverted flight",
|
|
"description": "Change to/from inverted flight.",
|
|
"specifiesCoordinate": false,
|
|
"friendlyEdit": true,
|
|
"category": "Flight control",
|
|
"param1": {
|
|
"label": "Inverted",
|
|
"enumStrings": "Normal,Inverted",
|
|
"enumValues": "0,1",
|
|
"default": 0
|
|
}
|
|
},
|
|
{
|
|
"id": 211,
|
|
"rawName": "MAV_CMD_DO_GRIPPER",
|
|
"friendlyName": "Gripper",
|
|
"description": "Operate EPM gripper.",
|
|
"specifiesCoordinate": false,
|
|
"friendlyEdit": true,
|
|
"category": "Advanced",
|
|
"param1": {
|
|
"label": "Gripper id",
|
|
"default": 1,
|
|
"decimalPlaces": 0
|
|
},
|
|
"param2": {
|
|
"label": "Action",
|
|
"enumStrings": "Release,Grab",
|
|
"enumValues": "0,1",
|
|
"default": 0
|
|
}
|
|
},
|
|
{
|
|
"id": 212,
|
|
"rawName": "MAV_CMD_DO_AUTOTUNE_ENABLE",
|
|
"friendlyName": "AutoTune Enable",
|
|
"description": "AutoTune Enable.",
|
|
"specifiesCoordinate": false,
|
|
"friendlyEdit": true,
|
|
"category": "Advanced",
|
|
"param2": {
|
|
"label": "Enable",
|
|
"enumStrings": "Enable,Disable",
|
|
"enumValues": "1,0",
|
|
"default": 1
|
|
}
|
|
},
|
|
{ "id": 220, "rawName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT" },
|
|
{ "id": 221, "rawName": "MAV_CMD_DO_GUIDED_MASTER" },
|
|
{
|
|
"id": 222,
|
|
"rawName": "MAV_CMD_DO_GUIDED_LIMITS",
|
|
"friendlyName": "Guided limits",
|
|
"description": "Set limits for external control",
|
|
"param1": {
|
|
"label": "Timeout",
|
|
"default": 0,
|
|
"units": "secs",
|
|
"decimalPlaces": 0
|
|
},
|
|
"param2": {
|
|
"label": "Min Alt",
|
|
"default": 25,
|
|
"units": "m",
|
|
"decimalPlaces": 2
|
|
},
|
|
"param3": {
|
|
"label": "Max Alt",
|
|
"units": "m",
|
|
"default": 100,
|
|
"decimalPlaces": 2
|
|
},
|
|
"param4": {
|
|
"label": "H Limit",
|
|
"default": 25,
|
|
"units": "m",
|
|
"decimalPlaces": 2
|
|
}
|
|
},
|
|
{ "id": 241, "rawName": "MAV_CMD_PREFLIGHT_CALIBRATION", "friendlyName": "Calibration" },
|
|
{ "id": 242, "rawName": "MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS", "friendlyName": "Set sensor offsets" },
|
|
{ "id": 243, "rawName": "MAV_CMD_PREFLIGHT_UAVCAN", "friendlyName": "UAVCAN configure" },
|
|
{ "id": 245, "rawName": "MAV_CMD_PREFLIGHT_STORAGE", "friendlyName": "Store parameters" },
|
|
{ "id": 246, "rawName": "MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN", "friendlyName": "Reboot/Shutdown vehicle" },
|
|
{ "id": 252, "rawName": "MAV_CMD_OVERRIDE_GOTO", "friendlyName": "Override goto" },
|
|
{ "id": 300, "rawName": "MAV_CMD_MISSION_START", "friendlyName": "Mission start" },
|
|
{ "id": 400, "rawName": "MAV_CMD_COMPONENT_ARM_DISARM", "friendlyName": "Arm/Disarm" },
|
|
{ "id": 410, "rawName": "MAV_CMD_GET_HOME_POSITION", "friendlyName": "Get launch position" },
|
|
{ "id": 500, "rawName": "MAV_CMD_START_RX_PAIR", "friendlyName": "Bind Spektrum receiver" },
|
|
{ "id": 510, "rawName": "MAV_CMD_GET_MESSAGE_INTERVAL", "friendlyName": "Get message interval" },
|
|
{ "id": 511, "rawName": "MAV_CMD_SET_MESSAGE_INTERVAL", "friendlyName": "Set message interval" },
|
|
{ "id": 520, "rawName": "MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES", "friendlyName": "Get capabilities" },
|
|
{
|
|
"id": 530,
|
|
"rawName": "MAV_CMD_SET_CAMERA_MODE",
|
|
"friendlyName": "Set camera modes" ,
|
|
"description": "Set camera photo, video modes.",
|
|
"category": "Camera",
|
|
"param2": {
|
|
"label": "Mode",
|
|
"enumStrings": "Take photos,Record video,Survey photo mode",
|
|
"enumValues": "0,1,2",
|
|
"default": 0
|
|
}
|
|
},
|
|
{
|
|
"id": 2000,
|
|
"rawName": "MAV_CMD_IMAGE_START_CAPTURE",
|
|
"friendlyName": "Start image capture" ,
|
|
"description": "Start taking one or more photos.",
|
|
"category": "Camera",
|
|
"param2": {
|
|
"label": "Interval",
|
|
"default": 0,
|
|
"units": "secs",
|
|
"decimalPlaces": 0
|
|
},
|
|
"param3": {
|
|
"label": "Photo count",
|
|
"default": 1,
|
|
"decimalPlaces": 0
|
|
}
|
|
},
|
|
{
|
|
"id": 2001,
|
|
"rawName": "MAV_CMD_IMAGE_STOP_CAPTURE",
|
|
"friendlyName": "Stop image capture",
|
|
"description": "Stop taking photos.",
|
|
"category": "Camera",
|
|
"friendlyEdit": true
|
|
},
|
|
{ "id": 2003, "rawName": "MAV_CMD_DO_TRIGGER_CONTROL", "friendlyName": "Trigger control" },
|
|
{
|
|
"id": 2500,
|
|
"rawName": "MAV_CMD_VIDEO_START_CAPTURE",
|
|
"friendlyName": "Start video capture",
|
|
"description": "Start video capture.",
|
|
"category": "Camera",
|
|
"param2": {
|
|
"label": "Status Frequency",
|
|
"default": 0.2,
|
|
"units": "Hz",
|
|
"decimalPlaces": 2
|
|
}
|
|
},
|
|
{
|
|
"id": 2501,
|
|
"rawName": "MAV_CMD_VIDEO_STOP_CAPTURE",
|
|
"friendlyName": "Stop video capture",
|
|
"description": "Stop video capture.",
|
|
"category": "Camera",
|
|
"friendlyEdit": true
|
|
},
|
|
{ "id": 2800, "rawName": "MAV_CMD_PANORAMA_CREATE", "friendlyName": "Create panorama" },
|
|
{
|
|
"id": 3000,
|
|
"rawName": "MAV_CMD_DO_VTOL_TRANSITION",
|
|
"friendlyName": "VTOL Transition",
|
|
"description": "Perform flight mode transition.",
|
|
"category": "VTOL",
|
|
"param1": {
|
|
"label": "Mode",
|
|
"default": 3,
|
|
"enumStrings": "Hover Mode,Plane Mode",
|
|
"enumValues": "3,4"
|
|
}
|
|
},
|
|
{ "id": 30001, "rawName": "MAV_CMD_PAYLOAD_PREPARE_DEPLOY", "friendlyName": "Payload prepare deploy" },
|
|
{ "id": 30002, "rawName": "MAV_CMD_PAYLOAD_CONTROL_DEPLOY", "friendlyName": "Payload control deploy" }
|
|
]
|
|
}
|