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76 lines
3.5 KiB
76 lines
3.5 KiB
<?xml version='1.0'?> |
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<mavlink> |
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<include>common.xml</include> |
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<enums> |
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<enum name="UALBERTA_AUTOPILOT_MODE"> |
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<description>Available autopilot modes for ualberta uav</description> |
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<entry name="MODE_MANUAL_DIRECT"> |
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<description>Raw input pulse widts sent to output</description> |
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</entry> |
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<entry name="MODE_MANUAL_SCALED"> |
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<description>Inputs are normalized using calibration, the converted back to raw pulse widths for output</description> |
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</entry> |
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<entry name="MODE_AUTO_PID_ATT"> |
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<description> dfsdfs</description> |
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</entry> |
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<entry name="MODE_AUTO_PID_VEL"> |
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<description> dfsfds</description> |
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</entry> |
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<entry name="MODE_AUTO_PID_POS"> |
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<description> dfsdfsdfs</description> |
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</entry> |
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</enum> |
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<enum name="UALBERTA_NAV_MODE"> |
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<description>Navigation filter mode</description> |
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<entry name="NAV_AHRS_INIT" /> |
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<entry name="NAV_AHRS"> |
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<description>AHRS mode</description> |
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</entry> |
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<entry name="NAV_INS_GPS_INIT"> |
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<description>INS/GPS initialization mode</description> |
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</entry> |
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<entry name="NAV_INS_GPS"> |
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<description>INS/GPS mode</description> |
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</entry> |
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</enum> |
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<enum name="UALBERTA_PILOT_MODE"> |
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<description>Mode currently commanded by pilot</description> |
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<entry name="PILOT_MANUAL"> |
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<description> sdf</description> |
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</entry> |
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<entry name="PILOT_AUTO"> |
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<description> dfs</description> |
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</entry> |
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<entry name="PILOT_ROTO"> |
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<description> Rotomotion mode </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="220" name="NAV_FILTER_BIAS"> |
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<description>Accelerometer and Gyro biases from the navigation filter</description> |
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<field type="uint64_t" name="usec">Timestamp (microseconds)</field> |
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<field type="float" name="accel_0">b_f[0]</field> |
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<field type="float" name="accel_1">b_f[1]</field> |
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<field type="float" name="accel_2">b_f[2]</field> |
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<field type="float" name="gyro_0">b_f[0]</field> |
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<field type="float" name="gyro_1">b_f[1]</field> |
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<field type="float" name="gyro_2">b_f[2]</field> |
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</message> |
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<message id="221" name="RADIO_CALIBRATION"> |
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<description>Complete set of calibration parameters for the radio</description> |
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<field type="uint16_t[3]" name="aileron">Aileron setpoints: left, center, right</field> |
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<field type="uint16_t[3]" name="elevator">Elevator setpoints: nose down, center, nose up</field> |
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<field type="uint16_t[3]" name="rudder">Rudder setpoints: nose left, center, nose right</field> |
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<field type="uint16_t[2]" name="gyro">Tail gyro mode/gain setpoints: heading hold, rate mode</field> |
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<field type="uint16_t[5]" name="pitch">Pitch curve setpoints (every 25%)</field> |
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<field type="uint16_t[5]" name="throttle">Throttle curve setpoints (every 25%)</field> |
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</message> |
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<message id="222" name="UALBERTA_SYS_STATUS"> |
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<description>System status specific to ualberta uav</description> |
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<field type="uint8_t" name="mode">System mode, see UALBERTA_AUTOPILOT_MODE ENUM</field> |
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<field type="uint8_t" name="nav_mode">Navigation mode, see UALBERTA_NAV_MODE ENUM</field> |
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<field type="uint8_t" name="pilot">Pilot mode, see UALBERTA_PILOT_MODE</field> |
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</message> |
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</messages> |
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</mavlink>
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