/** @brief Enumeration of possible mount operation modes */
#ifndef HAVE_ENUM_MAV_MOUNT_MODE
#define HAVE_ENUM_MAV_MOUNT_MODE
enumMAV_MOUNT_MODE
{
MAV_MOUNT_MODE_RETRACT=0,/* Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization | */
MAV_MOUNT_MODE_NEUTRAL=1,/* Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM. | */
MAV_MOUNT_MODE_MAVLINK_TARGETING=2,/* Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization | */
MAV_MOUNT_MODE_RC_TARGETING=3,/* Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | */
MAV_MOUNT_MODE_GPS_POINT=4,/* Load neutral position and start to point to Lat,Lon,Alt | */
MAV_MOUNT_MODE_ENUM_END=5,/* | */
};
#endif
/** @brief */
#ifndef HAVE_ENUM_MAV_CMD
#define HAVE_ENUM_MAV_CMD
enumMAV_CMD
typedefenumMAV_CMD
{
MAV_CMD_NAV_WAYPOINT=16,/* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */
MAV_CMD_NAV_LOITER_UNLIM=17,/* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
MAV_CMD_DO_DIGICAM_CONFIGURE=202,/* Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| */
MAV_CMD_DO_DIGICAM_CONTROL=203,/* Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| */
MAV_CMD_DO_MOUNT_CONFIGURE=204,/* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| */
MAV_CMD_DO_MOUNT_CONTROL=205,/* Mission command to control a camera or antenna mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_MOUNT_CONTROL=205,/* Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value| */
MAV_CMD_DO_SET_CAM_TRIGG_DIST=206,/* Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_FENCE_ENABLE=207,/* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_PARACHUTE=208,/* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, See PARACHUTE_ACTION enum)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_PARACHUTE=208,/* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_DO_MOTOR_TEST=209,/* Mission command to perform motor test |motor sequence number (a number from 1 to max number of motors on the vehicle)| throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| throttle| timeout (in seconds)| Empty| Empty| Empty| */
MAV_CMD_DO_MOUNT_CONTROL_QUAT=220,/* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1| q2 - quaternion param #2| q3 - quaternion param #3| q4 - quaternion param #4| Empty| Empty| Empty| */
MAV_CMD_DO_LAST=240,/* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_PREFLIGHT_CALIBRATION=241,/* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Compass/Motor interference calibration: 0: no, 1: yes| Empty| */
MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242,/* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */
LIMITS_RECOVERED=5,/* we're no longer in breach of a limit | */
LIMITS_STATE_ENUM_END=6,/* | */
};
}LIMITS_STATE;
#endif
/** @brief */
#ifndef HAVE_ENUM_LIMIT_MODULE
#define HAVE_ENUM_LIMIT_MODULE
enumLIMIT_MODULE
typedefenumLIMIT_MODULE
{
LIMIT_GPSLOCK=1,/* pre-initialization | */
LIMIT_GEOFENCE=2,/* disabled | */
LIMIT_ALTITUDE=4,/* checking limits | */
LIMIT_MODULE_ENUM_END=5,/* | */
};
}LIMIT_MODULE;
#endif
/** @brief Flags in RALLY_POINT message */
#ifndef HAVE_ENUM_RALLY_FLAGS
#define HAVE_ENUM_RALLY_FLAGS
enumRALLY_FLAGS
typedefenumRALLY_FLAGS
{
FAVORABLE_WIND=1,/* Flag set when requiring favorable winds for landing. | */
LAND_IMMEDIATELY=2,/* Flag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land. | */
MAV_MODE_FLAG_CUSTOM_MODE_ENABLED=1,/* 0b00000001 Reserved for future use. | */
MAV_MODE_FLAG_TEST_ENABLED=2,/* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED=64,/* 0b01000000 remote control input is enabled. | */
MAV_MODE_FLAG_SAFETY_ARMED=128,/* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. | */
MAV_MODE_FLAG_ENUM_END=129,/* | */
};
}MAV_MODE_FLAG;
#endif
/** @brief These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not. */
MAV_MODE_GUIDED_ARMED=216,/* System is allowed to be active, under autonomous control, manual setpoint | */
MAV_MODE_AUTO_ARMED=220,/* System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) | */
MAV_MODE_ENUM_END=221,/* | */
};
}MAV_MODE;
#endif
/** @brief */
#ifndef HAVE_ENUM_MAV_STATE
#define HAVE_ENUM_MAV_STATE
enumMAV_STATE
typedefenumMAV_STATE
{
MAV_STATE_UNINIT=0,/* Uninitialized system, state is unknown. | */
MAV_STATE_EMERGENCY=6,/* System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down. | */
MAV_STATE_POWEROFF=7,/* System just initialized its power-down sequence, will shut down now. | */
MAV_FRAME_GLOBAL=0,/* Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL) | */
MAV_FRAME_MISSION=2,/* NOT a coordinate frame, indicates a mission command. | */
MAV_FRAME_GLOBAL_RELATIVE_ALT=3,/* 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. | */
MAV_FRAME_GLOBAL_INT=5,/* Global coordinate frame with some fields as scaled integers, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL). Lat / Lon are scaled * 1E7 to avoid floating point accuracy limitations. | */
MAV_FRAME_GLOBAL_RELATIVE_ALT_INT=6,/* Global coordinate frame with some fields as scaled integers, 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. Lat / Lon are scaled * 1E7 to avoid floating point accuracy limitations. | */
MAV_MISSION_INVALID_SEQUENCE=13,/* received waypoint out of sequence | */
MAV_MISSION_DENIED=14,/* not accepting any mission commands from this communication partner | */
MAV_MISSION_RESULT_ENUM_END=15,/* | */
};
}MAV_MISSION_RESULT;
#endif
/** @brief Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/. */
#ifndef HAVE_ENUM_MAV_SEVERITY
#define HAVE_ENUM_MAV_SEVERITY
enumMAV_SEVERITY
typedefenumMAV_SEVERITY
{
MAV_SEVERITY_EMERGENCY=0,/* System is unusable. This is a "panic" condition. | */
MAV_SEVERITY_ALERT=1,/* Action should be taken immediately. Indicates error in non-critical systems. | */
Andrew Tridgell
11 years ago