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113 lines
4.7 KiB
113 lines
4.7 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">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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</messages> |
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</mavlink>
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