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Copter: fixup line endings to be newline

master
Kevin Hester 11 years ago committed by Randy Mackay
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1 changed files with 74 additions and 74 deletions
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  1. 148
      ArduCopter/command_description.txt

148
ArduCopter/command_description.txt
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@ -1,74 +1,74 @@
ArduPilotMega 2.0 Commands ArduPilotMega 2.0 Commands
Command Structure in bytes Command Structure in bytes
0 0x00 byte Command ID 0 0x00 byte Command ID
1 0x01 byte Parameter 1 1 0x01 byte Parameter 1
2 0x02 long Parameter 2 2 0x02 long Parameter 2
3 0x03 .. 3 0x03 ..
4 0x04 .. 4 0x04 ..
5 0x05 .. 5 0x05 ..
6 0x06 long Parameter 3 6 0x06 long Parameter 3
7 0x07 .. 7 0x07 ..
8 0x08 .. 8 0x08 ..
9 0x09 .. 9 0x09 ..
10 0x0A long Parameter 4 10 0x0A long Parameter 4
11 0x0B .. 11 0x0B ..
11 0x0C .. 11 0x0C ..
11 0x0D .. 11 0x0D ..
*********************************** ***********************************
Commands below MAV_CMD_NAV_LAST are commands that have a end criteria, eg "reached waypoint" or "reached altitude" 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 Command ID Name Parameter 1 Altitude Latitude Longitude
0x10 / 16 MAV_CMD_NAV_WAYPOINT delay (seconds) altitude lat lon 0x10 / 16 MAV_CMD_NAV_WAYPOINT delay (seconds) altitude lat lon
0x11 / 17 MAV_CMD_NAV_LOITER_UNLIM (forever) altitude lat lon 0x11 / 17 MAV_CMD_NAV_LOITER_UNLIM (forever) altitude lat lon
0x14 / 20 MAV_CMD_NAV_RETURN_TO_LAUNCH - - - - 0x14 / 20 MAV_CMD_NAV_RETURN_TO_LAUNCH - - - -
0x15 / 21 MAV_CMD_NAV_LAND - - - - 0x15 / 21 MAV_CMD_NAV_LAND - - - -
0x16 / 22 MAV_CMD_NAV_TAKEOFF - altitude - - 0x16 / 22 MAV_CMD_NAV_TAKEOFF - altitude - -
0x19 / 22 MAV_CMD_NAV_LOITER_TIME - 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. 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 May Commands - these commands are optional to finish
Command ID Name Parameter 1 Parameter 2 Parameter 3 Parameter 4 Command ID Name Parameter 1 Parameter 2 Parameter 3 Parameter 4
0x70 / 112 MAV_CMD_CONDITION_DELAY - - time (seconds) - 0x70 / 112 MAV_CMD_CONDITION_DELAY - - time (seconds) -
0x71 / 113 MAV_CMD_CONDITION_CHANGE_ALT rate (cm/sec) alt (finish) - - 0x71 / 113 MAV_CMD_CONDITION_CHANGE_ALT rate (cm/sec) alt (finish) - -
Note: rate must be > 10 cm/sec due to integer math 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) // MAV_CMD_NAV_LAND_OPTIONS (NOT CURRENTLY IN MAVLINK PROTOCOL OR IMPLEMENTED IN APM)
0x72 / 114 MAV_CMD_CONDITION_DISTANCE - - distance (meters) - 0x72 / 114 MAV_CMD_CONDITION_DISTANCE - - distance (meters) -
0x71 / 115 MAV_CMD_CONDITION_YAW angle speed direction (-1,1) rel (1), abs (0) 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! 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 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 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 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 Command ID Name Parameter 1 Parameter 2 Parameter 3 Parameter 4
0xB1 / 177 MAV_CMD_DO_JUMP index - repeat count - 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. 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) - 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) (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 0xB3 / 179 MAV_CMD_DO_SET_HOME Use current altitude lat lon
(1=use current location, 0=use specified location) (1=use current location, 0=use specified location)
0xB4 / 180 MAV_CMD_DO_SET_PARAMETER Param number Param value (NOT CURRENTLY IMPLEMENTED IN APM) 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) - - 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) - 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 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) - - 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) - 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 Note: Max cycle time = 60 sec, A repeat relay or repeat servo command will cancel any current repeating event
// need to add command // need to add command
0xB7 / 201 MAV_CMD_DO_SET_ROI Yaw_Mode altitude lat lon 0xB7 / 201 MAV_CMD_DO_SET_ROI Yaw_Mode altitude lat lon

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