MAV_CMD_NAV_PATHPLANNING=81,/* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
MAV_CMD_NAV_SPLINE_WAYPOINT=82,/* Navigate to MISSION using a spline path. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
MAV_CMD_NAV_GUIDED=90,/* Pass control to an external controller. |Timeout in seconds. The maximum amount of time that the external controller will be allowed to control the vehicle. 0 means no timeout| Altitude min. If vehicle moves below this altitude the command will be aborted and the mission will continue. 0 for no lower alt limit| Altitude max. If vehicle moves above this altitude the command will be aborted and the mission will continue. 0 for no upper alt limit| Horizontal move limit. If vehicle moves more than this distance from it's location at the moment the command was begun, the command will be aborted and the mission will continue. 0 for no horizontal movement limit| Empty| Empty| Empty| */
MAV_CMD_NAV_VELOCITY=91,/* Navigate at the specified velocity |coordinate_frame - see MAV_FRAME enum| Empty| Empty| Empty| x velocity| y velocity| z velocity| */
MAV_CMD_NAV_LAST=95,/* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_CONDITION_DELAY=112,/* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */
MAV_CMD_CONDITION_CHANGE_ALT=113,/* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */
Randy Mackay
11 years ago