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103 lines
5.1 KiB
103 lines
5.1 KiB
<?xml version='1.0'?> |
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<mavlink> |
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<include>common.xml</include> |
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<version>3</version> |
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<enums> |
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<enum name="MAV_CMD"> |
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<entry value="2" name="MAV_CMD_AQ_TELEMETRY"> |
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<description>Start/stop AutoQuad telemetry values stream.</description> |
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<param index="1">Start or stop (1 or 0)</param> |
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<param index="2">Stream frequency in us</param> |
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<param index="3">Empty</param> |
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<param index="4">Empty</param> |
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<param index="5">Empty</param> |
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<param index="6">Empty</param> |
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<param index="7">Empty</param> |
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</entry> |
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<entry value="3" name="MAV_CMD_AQ_FOLLOW"> |
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<description>Command AutoQuad to go to a particular place at a set speed.</description> |
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<param index="1">Latitude</param> |
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<param index="2">Lontitude</param> |
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<param index="3">Altitude</param> |
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<param index="4">Speed</param> |
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<param index="5">Empty</param> |
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<param index="6">Empty</param> |
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<param index="7">Empty</param> |
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</entry> |
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<entry value="4" name="MAV_CMD_AQ_REQUEST_VERSION"> |
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<description>Request AutoQuad firmware version number.</description> |
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<param index="1">Empty</param> |
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<param index="2">Empty</param> |
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<param index="3">Empty</param> |
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<param index="4">Empty</param> |
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<param index="5">Empty</param> |
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<param index="6">Empty</param> |
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<param index="7">Empty</param> |
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</entry> |
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</enum> |
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</enums> |
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<messages> |
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<message id="150" name="AQ_TELEMETRY_F"> |
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<description>Sends up to 20 raw float values.</description> |
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<field type="uint16_t" name="Index">Index of message</field> |
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<field type="float" name="value1">value1</field> |
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<field type="float" name="value2">value2</field> |
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<field type="float" name="value3">value3</field> |
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<field type="float" name="value4">value4</field> |
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<field type="float" name="value5">value5</field> |
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<field type="float" name="value6">value6</field> |
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<field type="float" name="value7">value7</field> |
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<field type="float" name="value8">value8</field> |
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<field type="float" name="value9">value9</field> |
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<field type="float" name="value10">value10</field> |
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<field type="float" name="value11">value11</field> |
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<field type="float" name="value12">value12</field> |
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<field type="float" name="value13">value13</field> |
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<field type="float" name="value14">value14</field> |
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<field type="float" name="value15">value15</field> |
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<field type="float" name="value16">value16</field> |
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<field type="float" name="value17">value17</field> |
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<field type="float" name="value18">value18</field> |
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<field type="float" name="value19">value19</field> |
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<field type="float" name="value20">value20</field> |
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</message> |
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<!-- |
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<message id="160" name="groupCreate"> |
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<description>Creates/modifies group. Must be broadcast to all group members by leader or gcs.</description> |
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<field type="uint8_t" name="componentID">swarmController</field> |
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<field type="uint8_t" name="groupID">ID of group</field> |
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<field type="uint8_t" name="nUAV">No of uavs in Group</field> |
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<field type="uint8_t" name="leaderID"></field> |
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<field type="uint8_t[5]" name="uavID">Max of 5 in Group</field> |
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</message> |
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<message id="161" name="groupDestroy"> |
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<description>Deletes the group. Must be broadcast to all group members by leader or gcs.</description> |
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<field type="uint8_t" name="componentID">swarmController</field> |
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<field type="uint8_t" name="groupID">ID of group</field> |
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<field type="uint8_t" name="leaderID"></field> |
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</message> |
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<message id="162" name="groupLeave"> |
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<description>removes 1 uav from Group. Must be broadcast to all group members by leader or gcs.</description> |
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<field type="uint8_t" name="componentID">swarmController</field> |
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<field type="uint8_t" name="groupID">ID of group</field> |
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<field type="uint8_t" name="leaderID"></field> |
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<field type="uint8_t" name="uavID">Remove this uav</field> |
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</message> |
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<message id="163" name="networkTopology"> |
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<description>removes 1 uav from Group. Individual message-must be sent by leader or gcs to entire group.</description> |
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<field type="uint8_t" name="componentID">swarmController</field> |
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<field type="uint8_t" name="groupID">ID of group</field> |
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<field type="uint8_t" name="leaderID"></field> |
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<field type="uint8_t" name="followerID"></field> |
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<field type="float[5]" name="connectivityMap"></field> |
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</message> |
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<message id="164" name="coordinationExchange"> |
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<description>removes 1 uav from Group. Must be broadcast by every group member.</description> |
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<field type="uint8_t" name="componentID">swarmController</field> |
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<field type="uint8_t" name="groupID">ID of group</field> |
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<field type="uint8_t" name="senderID"></field> |
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<field type="float" name="coordinationParameter"></field> |
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</message> |
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--> |
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</messages> |
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</mavlink>
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