@ -982,9 +982,9 @@
@@ -982,9 +982,9 @@
NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame).</description>
<field type= "uint64_t" name= "time_usec" > Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
<field type= "uint8_t" name= "fix_type" > 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.</field>
<field type= "int32_t" name= "lat" > Latitude in 1E7 degrees</field>
<field type= "int32_t" name= "lon" > Longitude in 1E7 degrees</field>
<field type= "int32_t" name= "alt" > Altitude in 1E3 meters (millimeters) above MSL </field>
<field type= "int32_t" name= "lat" > Latitude (WGS84), in degrees * 1E7 </field>
<field type= "int32_t" name= "lon" > Longitude (WGS84), in degrees * 1E7 </field>
<field type= "int32_t" name= "alt" > Altitude (WGS84), in meters * 1000 (positive for up) </field>
<field type= "uint16_t" name= "eph" > GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535</field>
<field type= "uint16_t" name= "epv" > GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535</field>
<field type= "uint16_t" name= "vel" > GPS ground speed (m/s * 100). If unknown, set to: 65535</field>
@ -1203,15 +1203,15 @@
@@ -1203,15 +1203,15 @@
<message id= "48" name= "SET_GPS_GLOBAL_ORIGIN" >
<description > As local waypoints exist, the global MISSION reference allows to transform between the local coordinate frame and the global (GPS) coordinate frame. This can be necessary when e.g. in- and outdoor settings are connected and the MAV should move from in- to outdoor.</description>
<field type= "uint8_t" name= "target_system" > System ID</field>
<field type= "int32_t" name= "latitude" > global position * 1E7</field>
<field type= "int32_t" name= "longitude" > global pos itio n * 1E7</field>
<field type= "int32_t" name= "altitude" > global position * 1000 </field>
<field type= "int32_t" name= "latitude" > Latitude (WGS84), in degrees * 1E7</field>
<field type= "int32_t" name= "longitude" > Lon gitude (WGS84, in degrees * 1E7</field>
<field type= "int32_t" name= "altitude" > Altitude (WGS84), in meters * 1000 (positive for up) </field>
</message>
<message id= "49" name= "GPS_GLOBAL_ORIGIN" >
<description > Once the MAV sets a new GPS-Local correspondence, this message announces the origin (0,0,0) position</description>
<field type= "int32_t" name= "latitude" > Latitude (WGS84), expressed a s * 1E7</field>
<field type= "int32_t" name= "longitude" > Longitude (WGS84), expressed a s * 1E7</field>
<field type= "int32_t" name= "altitude" > Altitude(WGS84), expressed as * 1000 </field>
<field type= "int32_t" name= "latitude" > Latitude (WGS84), in degree s * 1E7</field>
<field type= "int32_t" name= "longitude" > Longitude (WGS84), in degree s * 1E7</field>
<field type= "int32_t" name= "altitude" > Altitude (WGS84), in meters * 1000 (positive for up) </field>
</message>
<message id= "50" name= "SET_LOCAL_POSITION_SETPOINT" >
<description > Set the setpoint for a local position controller. This is the position in local coordinates the MAV should fly to. This message is sent by the path/MISSION planner to the onboard position controller. As some MAVs have a degree of freedom in yaw (e.g. all helicopters/quadrotors), the desired yaw angle is part of the message.</description>
@ -1234,17 +1234,17 @@
@@ -1234,17 +1234,17 @@
<message id= "52" name= "GLOBAL_POSITION_SETPOINT_INT" >
<description > Transmit the current local setpoint of the controller to other MAVs (collision avoidance) and to the GCS.</description>
<field type= "uint8_t" name= "coordinate_frame" > Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT</field>
<field type= "int32_t" name= "latitude" > WGS84 Latitude position in degrees * 1E7</field>
<field type= "int32_t" name= "longitude" > WGS84 Longitude position in degrees * 1E7</field>
<field type= "int32_t" name= "altitude" > WGS84 Altitude in meters * 1000 (positive for up)</field>
<field type= "int32_t" name= "latitude" > Latitude (WGS84), in degrees * 1E7</field>
<field type= "int32_t" name= "longitude" > Longitude (WGS84), in degrees * 1E7</field>
<field type= "int32_t" name= "altitude" > Altitude (WGS84), in meters * 1000 (positive for up)</field>
<field type= "int16_t" name= "yaw" > Desired yaw angle in degrees * 100</field>
</message>
<message id= "53" name= "SET_GLOBAL_POSITION_SETPOINT_INT" >
<description > Set the current global position setpoint.</description>
<field type= "uint8_t" name= "coordinate_frame" > Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT</field>
<field type= "int32_t" name= "latitude" > WGS84 Latitude position in degrees * 1E7</field>
<field type= "int32_t" name= "longitude" > WGS84 Longitude position in degrees * 1E7</field>
<field type= "int32_t" name= "altitude" > WGS84 Altitude in meters * 1000 (positive for up)</field>
<field type= "int32_t" name= "latitude" > Latitude (WGS84), in degrees * 1E7</field>
<field type= "int32_t" name= "longitude" > Longitude (WGS84), in degrees * 1E7</field>
<field type= "int32_t" name= "altitude" > Altitude (WGS84), in meters * 1000 (positive for up)</field>
<field type= "int16_t" name= "yaw" > Desired yaw angle in degrees * 100</field>
</message>
<message id= "54" name= "SAFETY_SET_ALLOWED_AREA" >
@ -1566,6 +1566,57 @@
@@ -1566,6 +1566,57 @@
<field type= "uint8_t" name= "quality" > Optical flow quality / confidence. 0: bad, 255: maximum quality</field>
<field type= "float" name= "front_distance_m" > Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance</field>
</message>
<message id= "107" name= "HIL_SENSOR" > <description > The IMU readings in SI units in NED body frame</description>
<field type= "uint64_t" name= "time_usec" > Timestamp (microseconds, synced to UNIX time or since system boot)</field>
<field type= "float" name= "roll" > Roll angle in inertial frame (rad)</field>
<field type= "float" name= "pitch" > Pitch angle in inertial frame (rad)</field>
<field type= "float" name= "yaw" > Yaw angle in inertial frame (rad)</field>
<field type= "int32_t" name= "lat" > Latitude, expressed as * 1E7 degrees</field>
<field type= "int32_t" name= "lon" > Longitude, expressed as * 1E7 degrees</field>
<field type= "float" name= "xacc" > X acceleration (m/s^2)</field>
<field type= "float" name= "yacc" > Y acceleration (m/s^2)</field>
<field type= "float" name= "zacc" > Z acceleration (m/s^2)</field>
<field type= "float" name= "xgyro" > Angular speed around X axis in body frame (rad / sec)</field>
<field type= "float" name= "ygyro" > Angular speed around Y axis in body frame (rad / sec)</field>
<field type= "float" name= "zgyro" > Angular speed around Z axis in body frame (rad / sec)</field>
<field type= "float" name= "xmag" > X Magnetic field (Gauss)</field>
<field type= "float" name= "ymag" > Y Magnetic field (Gauss)</field>
<field type= "float" name= "zmag" > Z Magnetic field (Gauss)</field>
<field type= "float" name= "abs_pressure" > Absolute pressure in millibar</field>
<field type= "float" name= "diff_pressure" > Differential pressure (airspeed) in millibar</field>
<field type= "float" name= "pressure_alt" > Altitude calculated from pressure</field>
<field type= "float" name= "gps_alt" > GPS altitude (MSL) WGS84</field>
<field type= "float" name= "temperature" > Temperature in degrees celsius</field>
<field type= "uint32_t" name= "fields_updated" > Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature</field>
</message>
<message name= "SIM_STATE" id= "108" >
<description > Status of simulation environment, if used</description>
<field type= "float" name= "roll" > Roll angle (rad)</field>
<field type= "float" name= "pitch" > Pitch angle (rad)</field>
<field type= "float" name= "yaw" > Yaw angle (rad)</field>
<field type= "float" name= "xacc" > X acceleration m/s/s</field>
<field type= "float" name= "yacc" > Y acceleration m/s/s</field>
<field type= "float" name= "zacc" > Z acceleration m/s/s</field>
<field type= "float" name= "xgyro" > Angular speed around X axis rad/s</field>
<field type= "float" name= "ygyro" > Angular speed around Y axis rad/s</field>
<field type= "float" name= "zgyro" > Angular speed around Z axis rad/s</field>
<field type= "float" name= "lat" > Latitude in degrees</field>
<field type= "float" name= "lng" > Longitude in degrees</field>
</message>
<message name= "RADIO_STATUS" id= "109" >
<description > Status generated by radio</description>
<field type= "uint8_t" name= "rssi" > local signal strength</field>
<field type= "uint8_t" name= "remrssi" > remote signal strength</field>
<field type= "uint8_t" name= "txbuf" > how full the tx buffer is as a percentage</field>
<field type= "uint8_t" name= "noise" > background noise level</field>
<field type= "uint8_t" name= "remnoise" > remote background noise level</field>
<field type= "uint16_t" name= "rxerrors" > receive errors</field>
<field type= "uint16_t" name= "fixed" > count of error corrected packets</field>
</message>
<message id= "110" name= "FILE_TRANSFER_START" >
<description > Begin file transfer</description>
<field type= "uint64_t" name= "transfer_uid" > Unique transfer ID</field>
Andrew Tridgell
12 years ago