From 4bfd6b8ddd77cd73e7a5f2e05e95c627a061267d Mon Sep 17 00:00:00 2001 From: Kevin Hester Date: Tue, 15 Apr 2014 15:49:11 +0900 Subject: [PATCH] Copter: fixup line endings to be newline --- ArduCopter/command_description.txt | 148 ++++++++++++++--------------- 1 file changed, 74 insertions(+), 74 deletions(-) diff --git a/ArduCopter/command_description.txt b/ArduCopter/command_description.txt index f2f316a898..faaa10c202 100644 --- a/ArduCopter/command_description.txt +++ b/ArduCopter/command_description.txt @@ -1,74 +1,74 @@ -ArduPilotMega 2.0 Commands - -Command Structure in bytes -0 0x00 byte Command ID -1 0x01 byte Parameter 1 -2 0x02 long Parameter 2 -3 0x03 .. -4 0x04 .. -5 0x05 .. -6 0x06 long Parameter 3 -7 0x07 .. -8 0x08 .. -9 0x09 .. -10 0x0A long Parameter 4 -11 0x0B .. -11 0x0C .. -11 0x0D .. - - -*********************************** -Commands below MAV_CMD_NAV_LAST are commands that have a end criteria, eg "reached waypoint" or "reached altitude" -*********************************** -Command ID Name Parameter 1 Altitude Latitude Longitude -0x10 / 16 MAV_CMD_NAV_WAYPOINT delay (seconds) altitude lat lon -0x11 / 17 MAV_CMD_NAV_LOITER_UNLIM (forever) altitude lat lon - -0x14 / 20 MAV_CMD_NAV_RETURN_TO_LAUNCH - - - - -0x15 / 21 MAV_CMD_NAV_LAND - - - - -0x16 / 22 MAV_CMD_NAV_TAKEOFF - altitude - - -0x19 / 22 MAV_CMD_NAV_LOITER_TIME - altitude - - - - NOTE: for command 0x16 the value takeoff pitch specifies the minimum pitch for the case with airspeed sensor and the target pitch for the case without. - - -*********************************** -May Commands - these commands are optional to finish -Command ID Name Parameter 1 Parameter 2 Parameter 3 Parameter 4 -0x70 / 112 MAV_CMD_CONDITION_DELAY - - time (seconds) - -0x71 / 113 MAV_CMD_CONDITION_CHANGE_ALT rate (cm/sec) alt (finish) - - - Note: rate must be > 10 cm/sec due to integer math - -// MAV_CMD_NAV_LAND_OPTIONS (NOT CURRENTLY IN MAVLINK PROTOCOL OR IMPLEMENTED IN APM) - -0x72 / 114 MAV_CMD_CONDITION_DISTANCE - - distance (meters) - -0x71 / 115 MAV_CMD_CONDITION_YAW angle speed direction (-1,1) rel (1), abs (0) - -*********************************** -Unexecuted commands > MAV_CMD_NAV_LAST are dropped when ready for the next command < MAV_CMD_NAV_LAST so plan/queue commands accordingly! -For example if you had a string of CMD_MAV_CONDITION commands following a 0x10 command that had not finished when the waypoint was -reached, the unexecuted CMD_MAV_CONDITION and CMD_MAV_DO commands would be skipped and the next command < MAV_CMD_NAV_LAST would be loaded -*********************************** -Now Commands - these commands are executed once until no more new now commands are available - -Command ID Name Parameter 1 Parameter 2 Parameter 3 Parameter 4 -0xB1 / 177 MAV_CMD_DO_JUMP index - repeat count - - Note: The repeat count must be greater than 1 for the command to execute. Use a repeat count of 1 if you intend a single use. - -0XB2 / 178 MAV_CMD_DO_CHANGE_SPEED Speed type Speed (m/s) Throttle (Percent) - - (0=Airspeed, 1=Ground Speed) (-1 indicates no change)(-1 indicates no change) - -0xB3 / 179 MAV_CMD_DO_SET_HOME Use current altitude lat lon - (1=use current location, 0=use specified location) - -0xB4 / 180 MAV_CMD_DO_SET_PARAMETER Param number Param value (NOT CURRENTLY IMPLEMENTED IN APM) -0xB5 / 181 MAV_CMD_DO_SET_RELAY Relay number On/off (1/0) - - -0xB6 / 182 MAV_CMD_DO_REPEAT_RELAY Relay number Cycle count Cycle time (sec) - - Note: Max cycle time = 60 sec, A repeat relay or repeat servo command will cancel any current repeating event - -0xB7 / 183 MAV_CMD_DO_SET_SERVO Servo number (5-8) On/off (1/0) - - -0xB6 / 184 MAV_CMD_DO_REPEAT_SERVO Servo number (5-8) Cycle count Cycle time (sec) - - Note: Max cycle time = 60 sec, A repeat relay or repeat servo command will cancel any current repeating event - -// need to add command -0xB7 / 201 MAV_CMD_DO_SET_ROI Yaw_Mode altitude lat lon +ArduPilotMega 2.0 Commands + +Command Structure in bytes +0 0x00 byte Command ID +1 0x01 byte Parameter 1 +2 0x02 long Parameter 2 +3 0x03 .. +4 0x04 .. +5 0x05 .. +6 0x06 long Parameter 3 +7 0x07 .. +8 0x08 .. +9 0x09 .. +10 0x0A long Parameter 4 +11 0x0B .. +11 0x0C .. +11 0x0D .. + + +*********************************** +Commands below MAV_CMD_NAV_LAST are commands that have a end criteria, eg "reached waypoint" or "reached altitude" +*********************************** +Command ID Name Parameter 1 Altitude Latitude Longitude +0x10 / 16 MAV_CMD_NAV_WAYPOINT delay (seconds) altitude lat lon +0x11 / 17 MAV_CMD_NAV_LOITER_UNLIM (forever) altitude lat lon + +0x14 / 20 MAV_CMD_NAV_RETURN_TO_LAUNCH - - - - +0x15 / 21 MAV_CMD_NAV_LAND - - - - +0x16 / 22 MAV_CMD_NAV_TAKEOFF - altitude - - +0x19 / 22 MAV_CMD_NAV_LOITER_TIME - altitude - - + + NOTE: for command 0x16 the value takeoff pitch specifies the minimum pitch for the case with airspeed sensor and the target pitch for the case without. + + +*********************************** +May Commands - these commands are optional to finish +Command ID Name Parameter 1 Parameter 2 Parameter 3 Parameter 4 +0x70 / 112 MAV_CMD_CONDITION_DELAY - - time (seconds) - +0x71 / 113 MAV_CMD_CONDITION_CHANGE_ALT rate (cm/sec) alt (finish) - - + Note: rate must be > 10 cm/sec due to integer math + +// MAV_CMD_NAV_LAND_OPTIONS (NOT CURRENTLY IN MAVLINK PROTOCOL OR IMPLEMENTED IN APM) + +0x72 / 114 MAV_CMD_CONDITION_DISTANCE - - distance (meters) - +0x71 / 115 MAV_CMD_CONDITION_YAW angle speed direction (-1,1) rel (1), abs (0) + +*********************************** +Unexecuted commands > MAV_CMD_NAV_LAST are dropped when ready for the next command < MAV_CMD_NAV_LAST so plan/queue commands accordingly! +For example if you had a string of CMD_MAV_CONDITION commands following a 0x10 command that had not finished when the waypoint was +reached, the unexecuted CMD_MAV_CONDITION and CMD_MAV_DO commands would be skipped and the next command < MAV_CMD_NAV_LAST would be loaded +*********************************** +Now Commands - these commands are executed once until no more new now commands are available + +Command ID Name Parameter 1 Parameter 2 Parameter 3 Parameter 4 +0xB1 / 177 MAV_CMD_DO_JUMP index - repeat count - + Note: The repeat count must be greater than 1 for the command to execute. Use a repeat count of 1 if you intend a single use. + +0XB2 / 178 MAV_CMD_DO_CHANGE_SPEED Speed type Speed (m/s) Throttle (Percent) - + (0=Airspeed, 1=Ground Speed) (-1 indicates no change)(-1 indicates no change) + +0xB3 / 179 MAV_CMD_DO_SET_HOME Use current altitude lat lon + (1=use current location, 0=use specified location) + +0xB4 / 180 MAV_CMD_DO_SET_PARAMETER Param number Param value (NOT CURRENTLY IMPLEMENTED IN APM) +0xB5 / 181 MAV_CMD_DO_SET_RELAY Relay number On/off (1/0) - - +0xB6 / 182 MAV_CMD_DO_REPEAT_RELAY Relay number Cycle count Cycle time (sec) - + Note: Max cycle time = 60 sec, A repeat relay or repeat servo command will cancel any current repeating event + +0xB7 / 183 MAV_CMD_DO_SET_SERVO Servo number (5-8) On/off (1/0) - - +0xB6 / 184 MAV_CMD_DO_REPEAT_SERVO Servo number (5-8) Cycle count Cycle time (sec) - + Note: Max cycle time = 60 sec, A repeat relay or repeat servo command will cancel any current repeating event + +// need to add command +0xB7 / 201 MAV_CMD_DO_SET_ROI Yaw_Mode altitude lat lon