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142 lines
6.6 KiB
142 lines
6.6 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="AUTOQUAD_NAV_STATUS"> |
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<description>Available operating modes/statuses for AutoQuad flight controller. |
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Bitmask up to 32 bits. Low side bits for base modes, high side for |
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additional active features/modifiers/constraints.</description> |
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<entry value="0" name="AQ_NAV_STATUS_INIT"> |
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<description>System is initializing</description> |
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</entry> |
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<!-- low side basic mode bits --> |
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<entry value="0x1" name="AQ_NAV_STATUS_STANDBY"> |
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<description>System is standing by, not active</description> |
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</entry> |
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<entry value="0x2" name="AQ_NAV_STATUS_MANUAL"> |
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<description>Stabilized, under full manual control</description> |
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</entry> |
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<entry value="0x4" name="AQ_NAV_STATUS_ALTHOLD"> |
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<description>Altitude hold engaged</description> |
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</entry> |
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<entry value="0x8" name="AQ_NAV_STATUS_POSHOLD"> |
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<description>Position hold engaged</description> |
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</entry> |
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<entry value="0x10" name="AQ_NAV_STATUS_DVH"> |
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<description>Dynamic Velocity Hold is active</description> |
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</entry> |
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<entry value="0x20" name="AQ_NAV_STATUS_MISSION"> |
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<description>Autonomous mission execution mode</description> |
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</entry> |
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<!-- high side feature/modifier/constraint bits (0x8000 0000 = bit 32) --> |
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<entry value="0x80000000" name="AQ_NAV_STATUS_FAILSAFE"> |
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<description>System is in failsafe recovery mode</description> |
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</entry> |
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<entry value="0x40000000" name="AQ_NAV_STATUS_RTH"> |
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<description>Automatic Return to Home is active</description> |
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</entry> |
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<entry value="0x20000000" name="AQ_NAV_STATUS_HF_LOCKED"> |
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<description>Heading-Free locked mode active</description> |
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</entry> |
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<entry value="0x10000000" name="AQ_NAV_STATUS_HF_DYNAMIC"> |
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<description>Heading-Free dynamic mode active</description> |
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</entry> |
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<entry value="0x8000000" name="AQ_NAV_STATUS_CEILING"> |
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<description>Ceiling altitude is set</description> |
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</entry> |
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<entry value="0x4000000" name="AQ_NAV_STATUS_CEILING_REACHED"> |
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<description>Craft is at ceiling altitude</description> |
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</entry> |
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</enum> |
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<enum name="MAV_CMD"> |
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<!-- TODO: value 1 reserved for now due to legacy code --> |
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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">Dataset ID (refer to aq_mavlink.h::mavlinkCustomDataSets enum in AQ flight controller code)</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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<!-- extend MAV_DATA_STREAM --> |
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<enum name="MAV_DATA_STREAM"> |
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<entry value="13" name="MAV_DATA_STREAM_PROPULSION"> |
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<description>Motor/ESC telemetry data.</description> |
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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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<message id="152" name="AQ_ESC_TELEMETRY"> |
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<description>Sends ESC32 telemetry data for up to 4 motors. Multiple messages may be sent in sequence when system has > 4 motors. Data is described as follows: |
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// unsigned int state : 3; |
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// unsigned int vin : 12; // x 100 |
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// unsigned int amps : 14; // x 100 |
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// unsigned int rpm : 15; |
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// unsigned int duty : 8; // x (255/100) |
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// - Data Version 2 - |
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// unsigned int errors : 9; // Bad detects error count |
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// - Data Version 3 - |
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// unsigned int temp : 9; // (Deg C + 32) * 4 |
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// unsigned int errCode : 3; |
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</description> |
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<field type="uint32_t" name="time_boot_ms">Timestamp of the component clock since boot time in ms.</field> |
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<field type="uint8_t" name="seq">Sequence number of message (first set of 4 motors is #1, next 4 is #2, etc).</field> |
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<field type="uint8_t" name="num_motors">Total number of active ESCs/motors on the system.</field> |
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<field type="uint8_t" name="num_in_seq">Number of active ESCs in this sequence (1 through this many array members will be populated with data)</field> |
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<field type="uint8_t[4]" name="escid">ESC/Motor ID</field> |
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<field type="uint16_t[4]" name="status_age">Age of each ESC telemetry reading in ms compared to boot time. A value of 0xFFFF means timeout/no data.</field> |
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<field type="uint8_t[4]" name="data_version">Version of data structure (determines contents).</field> |
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<field type="uint32_t[4]" name="data0">Data bits 1-32 for each ESC.</field> |
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<field type="uint32_t[4]" name="data1">Data bits 33-64 for each ESC.</field> |
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</message> |
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</messages> |
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</mavlink>
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