zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

GCS_MAVLink: merged upstream mag cal messages for APM

master
Andrew Tridgell 10 years ago
parent
41e4c2720d
commit
44b7c75a4c
1 changed files with 72 additions and 1 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 73
      libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml

73
libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
Unescape View File

@ -55,6 +55,39 @@ @@ -55,6 +55,39 @@
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry name="MAV_CMD_DO_START_MAG_CAL" value="42424">
<description>Initiate a magnetometer calibration</description>
<param index="1">uint8_t bitmask of magnetometers (0 means all)</param>
<param index="2">Automatically retry on failure (0=no retry, 1=retry).</param>
<param index="3">Save without user input (0=require input, 1=autosave).</param>
<param index="4">Delay (seconds)</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry name="MAV_CMD_DO_ACCEPT_MAG_CAL" value="42425">
<description>Initiate a magnetometer calibration</description>
<param index="1">uint8_t bitmask of magnetometers (0 means all)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry name="MAV_CMD_DO_CANCEL_MAG_CAL" value="42426">
<description>Cancel a running magnetometer calibration</description>
<param index="1">uint8_t bitmask of magnetometers (0 means all)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
</enum>
<!-- AP_Limits Enums -->
@ -280,6 +313,15 @@ @@ -280,6 +313,15 @@
<entry name="EKF_PRED_POS_HORIZ_ABS" value="512"> <description>set if EKF's predicted horizontal position (absolute) estimate is good</description></entry>
</enum>
<enum name="MAG_CAL_STATUS">
<entry name="MAG_CAL_NOT_STARTED" value="0"></entry>
<entry name="MAG_CAL_WAITING_TO_START" value="1"></entry>
<entry name="MAG_CAL_RUNNING_STEP_ONE" value="2"></entry>
<entry name="MAG_CAL_RUNNING_STEP_TWO" value="3"></entry>
<entry name="MAG_CAL_SUCCESS" value="4"></entry>
<entry name="MAG_CAL_FAILED" value="5"></entry>
</enum>
<enum name="PID_TUNING_AXIS">
<entry name="PID_TUNING_ROLL" value="1"></entry>
<entry name="PID_TUNING_PITCH" value="2"></entry>
@ -668,7 +710,36 @@ @@ -668,7 +710,36 @@
<field type="uint8_t[24]" name="custom_bytes">Custom Bytes</field>
</message>
<!-- 191 to 192 RESERVED for mag calibration -->
<message name="MAG_CAL_PROGRESS" id="191">
<description>Reports progress of compass calibration.</description>
<field type="uint8_t" name="compass_id">Compass being calibrated</field>
<field type="uint8_t" name="cal_mask">Bitmask of compasses being calibrated</field>
<field type="uint8_t" name="cal_status">Status (see MAG_CAL_STATUS enum)</field>
<field type="uint8_t" name="attempt">Attempt number</field>
<field type="uint8_t" name="completion_pct">Completion percentage</field>
<field type="uint8_t[10]" name="completion_mask">Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid)</field>
<field type="float" name="direction_x">Body frame direction vector for display</field>
<field type="float" name="direction_y">Body frame direction vector for display</field>
<field type="float" name="direction_z">Body frame direction vector for display</field>
</message>
<message name="MAG_CAL_REPORT" id="192">
<description>Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.</description>
<field type="uint8_t" name="compass_id">Compass being calibrated</field>
<field type="uint8_t" name="cal_mask">Bitmask of compasses being calibrated</field>
<field type="uint8_t" name="cal_status">Status (see MAG_CAL_STATUS enum)</field>
<field type="uint8_t" name="autosaved">0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters</field>
<field type="float" name="fitness">RMS milligauss residuals</field>
<field type="float" name="ofs_x">X offset</field>
<field type="float" name="ofs_y">Y offset</field>
<field type="float" name="ofs_z">Z offset</field>
<field type="float" name="diag_x">X diagonal (matrix 11)</field>
<field type="float" name="diag_y">Y diagonal (matrix 22)</field>
<field type="float" name="diag_z">Z diagonal (matrix 33)</field>
<field type="float" name="offdiag_x">X off-diagonal (matrix 12 and 21)</field>
<field type="float" name="offdiag_y">Y off-diagonal (matrix 13 and 31)</field>
<field type="float" name="offdiag_z">Z off-diagonal (matrix 32 and 23)</field>
</message>
<!-- EKF status message from autopilot to GCS. -->
<message name="EKF_STATUS_REPORT" id="193">

Write Preview
Loading…
Cancel
Save