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284 lines
21 KiB
284 lines
21 KiB
<?xml version="1.0"?> |
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<mavlink> |
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<include>common.xml</include> |
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<!-- note that UDB specific messages should use the command id |
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range from 150 to 250, to leave plenty of room for growth |
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of common.xml |
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If you prototype a message here, then you should consider if it |
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is general enough to move into common.xml later |
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--> |
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<enums> |
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<enum name="MAV_PREFLIGHT_STORAGE_ACTION"> |
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<description>Action required when performing CMD_PREFLIGHT_STORAGE</description> |
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<entry value="0" name="MAV_PFS_CMD_READ_ALL"> |
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<description>Read all parameters from storage</description> |
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</entry> |
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<entry value="1" name="MAV_PFS_CMD_WRITE_ALL"> |
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<description>Write all parameters to storage</description> |
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</entry> |
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<entry value="2" name="MAV_PFS_CMD_CLEAR_ALL"> |
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<description>Clear all parameters in storage</description> |
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</entry> |
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<entry value="3" name="MAV_PFS_CMD_READ_SPECIFIC"> |
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<description>Read specific parameters from storage</description> |
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</entry> |
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<entry value="4" name="MAV_PFS_CMD_WRITE_SPECIFIC"> |
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<description>Write specific parameters to storage</description> |
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</entry> |
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<entry value="5" name="MAV_PFS_CMD_CLEAR_SPECIFIC"> |
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<description>Clear specific parameters in storage</description> |
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</entry> |
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<entry value="6" name="MAV_PFS_CMD_DO_NOTHING"> |
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<description>do nothing</description> |
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</entry> |
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</enum> |
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<enum name="MAV_CMD" > |
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<entry value="0" name="MAV_CMD_PREFLIGHT_STORAGE_ADVANCED"> |
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<description>Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.</description> |
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<param index="1">Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED</param> |
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<param index="2">Storage area as defined by parameter database</param> |
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<param index="3">Storage flags as defined by parameter database</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="FLEXIFUNCTION_SET"> |
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<description>Depreciated but used as a compiler flag. Do not remove</description> |
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<field type="uint8_t" name="target_system">System ID</field> |
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<field type="uint8_t" name="target_component">Component ID</field> |
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</message> |
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<message id="151" name="FLEXIFUNCTION_READ_REQ"> |
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<description>Reqest reading of flexifunction data</description> |
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<field type="uint8_t" name="target_system">System ID</field> |
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<field type="uint8_t" name="target_component">Component ID</field> |
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<field type="int16_t" name="read_req_type">Type of flexifunction data requested</field> |
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<field type="int16_t" name="data_index">index into data where needed</field> |
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</message> |
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<message id="152" name="FLEXIFUNCTION_BUFFER_FUNCTION"> |
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<description>Flexifunction type and parameters for component at function index from buffer</description> |
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<field type="uint8_t" name="target_system">System ID</field> |
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<field type="uint8_t" name="target_component">Component ID</field> |
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<field type="uint16_t" name="func_index">Function index</field> |
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<field type="uint16_t" name="func_count">Total count of functions</field> |
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<field type="uint16_t" name="data_address">Address in the flexifunction data, Set to 0xFFFF to use address in target memory</field> |
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<field type="uint16_t" name="data_size">Size of the </field> |
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<field type="int8_t[48]" name="data">Settings data</field> |
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</message> |
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<message id="153" name="FLEXIFUNCTION_BUFFER_FUNCTION_ACK"> |
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<description>Flexifunction type and parameters for component at function index from buffer</description> |
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<field type="uint8_t" name="target_system">System ID</field> |
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<field type="uint8_t" name="target_component">Component ID</field> |
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<field type="uint16_t" name="func_index">Function index</field> |
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<field type="uint16_t" name="result">result of acknowledge, 0=fail, 1=good</field> |
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</message> |
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<message id="155" name="FLEXIFUNCTION_DIRECTORY"> |
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<description>Acknowldge sucess or failure of a flexifunction command</description> |
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<field type="uint8_t" name="target_system">System ID</field> |
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<field type="uint8_t" name="target_component">Component ID</field> |
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<field type="uint8_t" name="directory_type">0=inputs, 1=outputs</field> |
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<field type="uint8_t" name="start_index">index of first directory entry to write</field> |
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<field type="uint8_t" name="count">count of directory entries to write</field> |
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<field type="int8_t[48]" name="directory_data">Settings data</field> |
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</message> |
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<message id="156" name="FLEXIFUNCTION_DIRECTORY_ACK"> |
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<description>Acknowldge sucess or failure of a flexifunction command</description> |
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<field type="uint8_t" name="target_system">System ID</field> |
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<field type="uint8_t" name="target_component">Component ID</field> |
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<field type="uint8_t" name="directory_type">0=inputs, 1=outputs</field> |
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<field type="uint8_t" name="start_index">index of first directory entry to write</field> |
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<field type="uint8_t" name="count">count of directory entries to write</field> |
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<field type="uint16_t" name="result">result of acknowledge, 0=fail, 1=good</field> |
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</message> |
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<message id="157" name="FLEXIFUNCTION_COMMAND"> |
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<description>Acknowldge sucess or failure of a flexifunction command</description> |
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<field type="uint8_t" name="target_system">System ID</field> |
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<field type="uint8_t" name="target_component">Component ID</field> |
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<field type="uint8_t" name="command_type">Flexifunction command type</field> |
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</message> |
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<message id="158" name="FLEXIFUNCTION_COMMAND_ACK"> |
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<description>Acknowldge sucess or failure of a flexifunction command</description> |
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<field type="uint16_t" name="command_type">Command acknowledged</field> |
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<field type="uint16_t" name="result">result of acknowledge</field> |
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</message> |
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<message id="170" name="SERIAL_UDB_EXTRA_F2_A"> |
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<description>Backwards compatible MAVLink version of SERIAL_UDB_EXTRA - F2: Format Part A</description> |
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<field type="uint32_t" name="sue_time">Serial UDB Extra Time</field> |
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<field type="uint8_t" name="sue_status">Serial UDB Extra Status</field> |
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<field type="int32_t" name="sue_latitude">Serial UDB Extra Latitude</field> |
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<field type="int32_t" name="sue_longitude">Serial UDB Extra Longitude</field> |
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<field type="int32_t" name="sue_altitude">Serial UDB Extra Altitude</field> |
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<field type="uint16_t" name="sue_waypoint_index">Serial UDB Extra Waypoint Index</field> |
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<field type="int16_t" name="sue_rmat0">Serial UDB Extra Rmat 0</field> |
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<field type="int16_t" name="sue_rmat1">Serial UDB Extra Rmat 1</field> |
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<field type="int16_t" name="sue_rmat2">Serial UDB Extra Rmat 2</field> |
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<field type="int16_t" name="sue_rmat3">Serial UDB Extra Rmat 3</field> |
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<field type="int16_t" name="sue_rmat4">Serial UDB Extra Rmat 4</field> |
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<field type="int16_t" name="sue_rmat5">Serial UDB Extra Rmat 5</field> |
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<field type="int16_t" name="sue_rmat6">Serial UDB Extra Rmat 6</field> |
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<field type="int16_t" name="sue_rmat7">Serial UDB Extra Rmat 7</field> |
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<field type="int16_t" name="sue_rmat8">Serial UDB Extra Rmat 8</field> |
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<field type="uint16_t" name="sue_cog">Serial UDB Extra GPS Course Over Ground</field> |
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<field type="int16_t" name="sue_sog">Serial UDB Extra Speed Over Ground</field> |
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<field type="uint16_t" name="sue_cpu_load">Serial UDB Extra CPU Load</field> |
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<field type="int16_t" name="sue_voltage_milis">Serial UDB Extra Voltage in MilliVolts</field> |
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<field type="uint16_t" name="sue_air_speed_3DIMU">Serial UDB Extra 3D IMU Air Speed</field> |
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<field type="int16_t" name="sue_estimated_wind_0">Serial UDB Extra Estimated Wind 0</field> |
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<field type="int16_t" name="sue_estimated_wind_1">Serial UDB Extra Estimated Wind 1</field> |
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<field type="int16_t" name="sue_estimated_wind_2">Serial UDB Extra Estimated Wind 2</field> |
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<field type="int16_t" name="sue_magFieldEarth0">Serial UDB Extra Magnetic Field Earth 0 </field> |
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<field type="int16_t" name="sue_magFieldEarth1">Serial UDB Extra Magnetic Field Earth 1 </field> |
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<field type="int16_t" name="sue_magFieldEarth2">Serial UDB Extra Magnetic Field Earth 2 </field> |
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<field type="int16_t" name="sue_svs">Serial UDB Extra Number of Sattelites in View</field> |
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<field type="int16_t" name="sue_hdop">Serial UDB Extra GPS Horizontal Dilution of Precision</field> |
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</message> |
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<message id="171" name="SERIAL_UDB_EXTRA_F2_B"> |
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<description>Backwards compatible version of SERIAL_UDB_EXTRA - F2: Part B</description> |
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<field type="uint32_t" name="sue_time">Serial UDB Extra Time</field> |
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<field type="int16_t" name="sue_pwm_input_1">Serial UDB Extra PWM Input Channel 1</field> |
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<field type="int16_t" name="sue_pwm_input_2">Serial UDB Extra PWM Input Channel 2</field> |
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<field type="int16_t" name="sue_pwm_input_3">Serial UDB Extra PWM Input Channel 3</field> |
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<field type="int16_t" name="sue_pwm_input_4">Serial UDB Extra PWM Input Channel 4</field> |
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<field type="int16_t" name="sue_pwm_input_5">Serial UDB Extra PWM Input Channel 5</field> |
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<field type="int16_t" name="sue_pwm_input_6">Serial UDB Extra PWM Input Channel 6</field> |
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<field type="int16_t" name="sue_pwm_input_7">Serial UDB Extra PWM Input Channel 7</field> |
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<field type="int16_t" name="sue_pwm_input_8">Serial UDB Extra PWM Input Channel 8</field> |
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<field type="int16_t" name="sue_pwm_input_9">Serial UDB Extra PWM Input Channel 9</field> |
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<field type="int16_t" name="sue_pwm_input_10">Serial UDB Extra PWM Input Channel 10</field> |
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<field type="int16_t" name="sue_pwm_output_1">Serial UDB Extra PWM Output Channel 1</field> |
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<field type="int16_t" name="sue_pwm_output_2">Serial UDB Extra PWM Output Channel 2</field> |
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<field type="int16_t" name="sue_pwm_output_3">Serial UDB Extra PWM Output Channel 3</field> |
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<field type="int16_t" name="sue_pwm_output_4">Serial UDB Extra PWM Output Channel 4</field> |
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<field type="int16_t" name="sue_pwm_output_5">Serial UDB Extra PWM Output Channel 5</field> |
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<field type="int16_t" name="sue_pwm_output_6">Serial UDB Extra PWM Output Channel 6</field> |
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<field type="int16_t" name="sue_pwm_output_7">Serial UDB Extra PWM Output Channel 7</field> |
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<field type="int16_t" name="sue_pwm_output_8">Serial UDB Extra PWM Output Channel 8</field> |
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<field type="int16_t" name="sue_pwm_output_9">Serial UDB Extra PWM Output Channel 9</field> |
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<field type="int16_t" name="sue_pwm_output_10">Serial UDB Extra PWM Output Channel 10</field> |
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<field type="int16_t" name="sue_imu_location_x">Serial UDB Extra IMU Location X</field> |
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<field type="int16_t" name="sue_imu_location_y">Serial UDB Extra IMU Location Y</field> |
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<field type="int16_t" name="sue_imu_location_z">Serial UDB Extra IMU Location Z</field> |
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<field type="uint32_t" name="sue_flags">Serial UDB Extra Status Flags</field> |
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<field type="int16_t" name="sue_osc_fails">Serial UDB Extra Oscillator Failure Count</field> |
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<field type="int16_t" name="sue_imu_velocity_x">Serial UDB Extra IMU Velocity X</field> |
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<field type="int16_t" name="sue_imu_velocity_y">Serial UDB Extra IMU Velocity Y</field> |
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<field type="int16_t" name="sue_imu_velocity_z">Serial UDB Extra IMU Velocity Z</field> |
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<field type="int16_t" name="sue_waypoint_goal_x">Serial UDB Extra Current Waypoint Goal X</field> |
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<field type="int16_t" name="sue_waypoint_goal_y">Serial UDB Extra Current Waypoint Goal Y</field> |
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<field type="int16_t" name="sue_waypoint_goal_z">Serial UDB Extra Current Waypoint Goal Z</field> |
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<field type="int16_t" name="sue_memory_stack_free">Serial UDB Extra Stack Memory Free</field> |
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</message> |
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<message id="172" name="SERIAL_UDB_EXTRA_F4"> |
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<description>Backwards compatible version of SERIAL_UDB_EXTRA F4: format</description> |
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<field type="uint8_t" name="sue_ROLL_STABILIZATION_AILERONS">Serial UDB Extra Roll Stabilization with Ailerons Enabled</field> |
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<field type="uint8_t" name="sue_ROLL_STABILIZATION_RUDDER">Serial UDB Extra Roll Stabilization with Rudder Enabled</field> |
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<field type="uint8_t" name="sue_PITCH_STABILIZATION">Serial UDB Extra Pitch Stabilization Enabled</field> |
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<field type="uint8_t" name="sue_YAW_STABILIZATION_RUDDER">Serial UDB Extra Yaw Stabilization using Rudder Enabled</field> |
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<field type="uint8_t" name="sue_YAW_STABILIZATION_AILERON">Serial UDB Extra Yaw Stabilization using Ailerons Enabled</field> |
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<field type="uint8_t" name="sue_AILERON_NAVIGATION">Serial UDB Extra Navigation with Ailerons Enabled</field> |
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<field type="uint8_t" name="sue_RUDDER_NAVIGATION">Serial UDB Extra Navigation with Rudder Enabled</field> |
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<field type="uint8_t" name="sue_ALTITUDEHOLD_STABILIZED">Serial UDB Extra Type of Alitude Hold when in Stabilized Mode</field> |
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<field type="uint8_t" name="sue_ALTITUDEHOLD_WAYPOINT">Serial UDB Extra Type of Alitude Hold when in Waypoint Mode</field> |
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<field type="uint8_t" name="sue_RACING_MODE">Serial UDB Extra Firmware racing mode enabled</field> |
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</message> |
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<message id="173" name="SERIAL_UDB_EXTRA_F5"> |
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<description>Backwards compatible version of SERIAL_UDB_EXTRA F5: format</description> |
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<field type="float" name="sue_YAWKP_AILERON">Serial UDB YAWKP_AILERON Gain for Proporional control of navigation</field> |
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<field type="float" name="sue_YAWKD_AILERON">Serial UDB YAWKD_AILERON Gain for Rate control of navigation</field> |
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<field type="float" name="sue_ROLLKP">Serial UDB Extra ROLLKP Gain for Proportional control of roll stabilization</field> |
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<field type="float" name="sue_ROLLKD">Serial UDB Extra ROLLKD Gain for Rate control of roll stabilization</field> |
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<field type="float" name="sue_YAW_STABILIZATION_AILERON">YAW_STABILIZATION_AILERON Proportional control</field> |
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<field type="float" name="sue_AILERON_BOOST">Gain For Boosting Manual Aileron control When Plane Stabilized</field> |
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</message> |
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<message id="174" name="SERIAL_UDB_EXTRA_F6"> |
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<description>Backwards compatible version of SERIAL_UDB_EXTRA F6: format</description> |
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<field type="float" name="sue_PITCHGAIN">Serial UDB Extra PITCHGAIN Proportional Control</field> |
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<field type="float" name="sue_PITCHKD">Serial UDB Extra Pitch Rate Control</field> |
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<field type="float" name="sue_RUDDER_ELEV_MIX">Serial UDB Extra Rudder to Elevator Mix</field> |
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<field type="float" name="sue_ROLL_ELEV_MIX">Serial UDB Extra Roll to Elevator Mix</field> |
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<field type="float" name="sue_ELEVATOR_BOOST">Gain For Boosting Manual Elevator control When Plane Stabilized</field> |
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</message> |
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<message id="175" name="SERIAL_UDB_EXTRA_F7"> |
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<description>Backwards compatible version of SERIAL_UDB_EXTRA F7: format</description> |
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<field type="float" name="sue_YAWKP_RUDDER">Serial UDB YAWKP_RUDDER Gain for Proporional control of navigation</field> |
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<field type="float" name="sue_YAWKD_RUDDER">Serial UDB YAWKD_RUDDER Gain for Rate control of navigation</field> |
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<field type="float" name="sue_ROLLKP_RUDDER">Serial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization</field> |
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<field type="float" name="sue_ROLLKD_RUDDER">Serial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization</field> |
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<field type="float" name="sue_RUDDER_BOOST">SERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized</field> |
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<field type="float" name="sue_RTL_PITCH_DOWN">Serial UDB Extra Return To Landing - Angle to Pitch Plane Down</field> |
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</message> |
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<message id="176" name="SERIAL_UDB_EXTRA_F8"> |
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<description>Backwards compatible version of SERIAL_UDB_EXTRA F8: format</description> |
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<field type="float" name="sue_HEIGHT_TARGET_MAX">Serial UDB Extra HEIGHT_TARGET_MAX</field> |
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<field type="float" name="sue_HEIGHT_TARGET_MIN">Serial UDB Extra HEIGHT_TARGET_MIN</field> |
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<field type="float" name="sue_ALT_HOLD_THROTTLE_MIN">Serial UDB Extra ALT_HOLD_THROTTLE_MIN</field> |
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<field type="float" name="sue_ALT_HOLD_THROTTLE_MAX">Serial UDB Extra ALT_HOLD_THROTTLE_MAX</field> |
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<field type="float" name="sue_ALT_HOLD_PITCH_MIN">Serial UDB Extra ALT_HOLD_PITCH_MIN</field> |
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<field type="float" name="sue_ALT_HOLD_PITCH_MAX">Serial UDB Extra ALT_HOLD_PITCH_MAX</field> |
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<field type="float" name="sue_ALT_HOLD_PITCH_HIGH">Serial UDB Extra ALT_HOLD_PITCH_HIGH</field> |
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</message> |
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<message id="177" name="SERIAL_UDB_EXTRA_F13"> |
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<description>Backwards compatible version of SERIAL_UDB_EXTRA F13: format</description> |
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<field type="int16_t" name="sue_week_no">Serial UDB Extra GPS Week Number</field> |
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<field type="int32_t" name="sue_lat_origin">Serial UDB Extra MP Origin Latitude</field> |
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<field type="int32_t" name="sue_lon_origin">Serial UDB Extra MP Origin Longitude</field> |
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<field type="int32_t" name="sue_alt_origin">Serial UDB Extra MP Origin Altitude Above Sea Level</field> |
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</message> |
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<message id="178" name="SERIAL_UDB_EXTRA_F14"> |
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<description>Backwards compatible version of SERIAL_UDB_EXTRA F14: format</description> |
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<field type="uint8_t" name="sue_WIND_ESTIMATION">Serial UDB Extra Wind Estimation Enabled</field> |
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<field type="uint8_t" name="sue_GPS_TYPE">Serial UDB Extra Type of GPS Unit</field> |
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<field type="uint8_t" name="sue_DR">Serial UDB Extra Dead Reckoning Enabled</field> |
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<field type="uint8_t" name="sue_BOARD_TYPE">Serial UDB Extra Type of UDB Hardware</field> |
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<field type="uint8_t" name="sue_AIRFRAME">Serial UDB Extra Type of Airframe</field> |
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<field type="int16_t" name="sue_RCON">Serial UDB Extra Reboot Regitster of DSPIC</field> |
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<field type="int16_t" name="sue_TRAP_FLAGS">Serial UDB Extra Last dspic Trap Flags</field> |
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<field type="uint32_t" name="sue_TRAP_SOURCE">Serial UDB Extra Type Program Address of Last Trap</field> |
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<field type="int16_t" name="sue_osc_fail_count">Serial UDB Extra Number of Ocillator Failures</field> |
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<field type="uint8_t" name="sue_CLOCK_CONFIG">Serial UDB Extra UDB Internal Clock Configuration</field> |
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<field type="uint8_t" name="sue_FLIGHT_PLAN_TYPE">Serial UDB Extra Type of Flight Plan</field> |
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</message> |
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<message id="179" name="SERIAL_UDB_EXTRA_F15"> |
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<description>Backwards compatible version of SERIAL_UDB_EXTRA F15 and F16: format</description> |
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<field type="uint8_t[40]" name="sue_ID_VEHICLE_MODEL_NAME">Serial UDB Extra Model Name Of Vehicle</field> |
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<field type="uint8_t[20]" name="sue_ID_VEHICLE_REGISTRATION">Serial UDB Extra Registraton Number of Vehicle</field> |
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</message> |
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<message id="180" name="SERIAL_UDB_EXTRA_F16"> |
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<field type="uint8_t[40]" name="sue_ID_LEAD_PILOT">Serial UDB Extra Name of Expected Lead Pilot</field> |
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<field type="uint8_t[70]" name="sue_ID_DIY_DRONES_URL">Serial UDB Extra URL of Lead Pilot or Team</field> |
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</message> |
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<message id="181" name="ALTITUDES"> |
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<description>The altitude measured by sensors and IMU</description> |
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<field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field> |
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<field type="int32_t" name="alt_gps">GPS altitude in meters, expressed as * 1000 (millimeters), above MSL</field> |
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<field type="int32_t" name="alt_imu">IMU altitude above ground in meters, expressed as * 1000 (millimeters)</field> |
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<field type="int32_t" name="alt_barometric">barometeric altitude above ground in meters, expressed as * 1000 (millimeters)</field> |
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<field type="int32_t" name="alt_optical_flow">Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)</field> |
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<field type="int32_t" name="alt_range_finder">Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)</field> |
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<field type="int32_t" name="alt_extra">Extra altitude above ground in meters, expressed as * 1000 (millimeters)</field> |
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</message> |
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<message id="182" name="AIRSPEEDS"> |
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<description>The airspeed measured by sensors and IMU</description> |
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<field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field> |
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<field type="int16_t" name="airspeed_imu">Airspeed estimate from IMU, cm/s</field> |
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<field type="int16_t" name="airspeed_pitot">Pitot measured forward airpseed, cm/s</field> |
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<field type="int16_t" name="airspeed_hot_wire">Hot wire anenometer measured airspeed, cm/s</field> |
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<field type="int16_t" name="airspeed_ultrasonic">Ultrasonic measured airspeed, cm/s</field> |
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<field type="int16_t" name="aoa">Angle of attack sensor, degrees * 10</field> |
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<field type="int16_t" name="aoy">Yaw angle sensor, degrees * 10</field> |
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</message> |
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</messages> |
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</mavlink>
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