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107 lines
7.2 KiB
107 lines
7.2 KiB
<?xml version='1.0'?> |
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<!-- ASLUAV Mavlink Message Definition File --> |
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<!-- Used for the ASLUAV fixed-wing autopilot (www.asl.ethz.ch), which implements extensions to the Pixhawk (www.pixhawk.org) autopilot --> |
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<mavlink> |
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<include>common.xml</include> |
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<messages> |
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<message id="201" name="SENS_POWER"> |
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<description>Voltage and current sensor data</description> |
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<field type="float" name="adc121_vspb_volt"> Power board voltage sensor reading in volts</field> |
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<field type="float" name="adc121_cspb_amp"> Power board current sensor reading in amps</field> |
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<field type="float" name="adc121_cs1_amp"> Board current sensor 1 reading in amps</field> |
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<field type="float" name="adc121_cs2_amp"> Board current sensor 2 reading in amps</field> |
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</message> |
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<message id="202" name="SENS_MPPT"> |
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<description>Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking</description> |
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<field type="uint64_t" name="mppt_timestamp"> MPPT last timestamp </field> |
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<field type="float" name="mppt1_volt"> MPPT1 voltage </field> |
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<field type="float" name="mppt1_amp"> MPPT1 current </field> |
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<field type="uint16_t" name="mppt1_pwm"> MPPT1 pwm </field> |
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<field type="uint8_t" name="mppt1_status"> MPPT1 status </field> |
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<field type="float" name="mppt2_volt"> MPPT2 voltage </field> |
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<field type="float" name="mppt2_amp"> MPPT2 current </field> |
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<field type="uint16_t" name="mppt2_pwm"> MPPT2 pwm </field> |
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<field type="uint8_t" name="mppt2_status"> MPPT2 status </field> |
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<field type="float" name="mppt3_volt"> MPPT3 voltage </field> |
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<field type="float" name="mppt3_amp"> MPPT3 current </field> |
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<field type="uint16_t" name="mppt3_pwm"> MPPT3 pwm </field> |
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<field type="uint8_t" name="mppt3_status"> MPPT3 status </field> |
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</message> |
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<message id="203" name="ASLCTRL_DATA"> |
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<description>ASL-fixed-wing controller data</description> |
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<field type="uint64_t" name="timestamp"> Timestamp</field> |
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<field type="uint8_t" name="aslctrl_mode"> ASLCTRL control-mode (manual, stabilized, auto, etc...)</field> |
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<field type="float" name="h"> See sourcecode for a description of these values... </field> |
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<field type="float" name="hRef"> </field> |
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<field type="float" name="hRef_t"> </field> |
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<field type="float" name="PitchAngle">Pitch angle [deg]</field> |
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<field type="float" name="PitchAngleRef">Pitch angle reference[deg] </field> |
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<field type="float" name="q"> </field> |
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<field type="float" name="qRef"> </field> |
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<field type="float" name="uElev"> </field> |
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<field type="float" name="uThrot"> </field> |
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<field type="float" name="uThrot2"> </field> |
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<field type="float" name="aZ"> </field> |
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<field type="float" name="AirspeedRef">Airspeed reference [m/s]</field> |
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<field type="uint8_t" name="SpoilersEngaged"> </field> |
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<field type="float" name="YawAngle">Yaw angle [deg]</field> |
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<field type="float" name="YawAngleRef">Yaw angle reference[deg]</field> |
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<field type="float" name="RollAngle">Roll angle [deg]</field> |
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<field type="float" name="RollAngleRef">Roll angle reference[deg]</field> |
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<field type="float" name="p"> </field> |
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<field type="float" name="pRef"> </field> |
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<field type="float" name="r"> </field> |
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<field type="float" name="rRef"> </field> |
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<field type="float" name="uAil"> </field> |
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<field type="float" name="uRud"> </field> |
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</message> |
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<message id="204" name="ASLCTRL_DEBUG"> |
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<description>ASL-fixed-wing controller debug data</description> |
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<field type="uint32_t" name="i32_1"> Debug data</field> |
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<field type="uint8_t" name="i8_1"> Debug data</field> |
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<field type="uint8_t" name="i8_2"> Debug data</field> |
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<field type="float" name="f_1"> Debug data </field> |
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<field type="float" name="f_2"> Debug data</field> |
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<field type="float" name="f_3"> Debug data</field> |
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<field type="float" name="f_4"> Debug data</field> |
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<field type="float" name="f_5"> Debug data</field> |
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<field type="float" name="f_6"> Debug data</field> |
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<field type="float" name="f_7"> Debug data</field> |
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<field type="float" name="f_8"> Debug data</field> |
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</message> |
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<message id="205" name="ASLUAV_STATUS"> |
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<description>Extended state information for ASLUAVs</description> |
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<field type="uint8_t" name="LED_status"> Status of the position-indicator LEDs</field> |
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<field type="uint8_t" name="SATCOM_status"> Status of the IRIDIUM satellite communication system</field> |
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<field type="uint8_t[8]" name="Servo_status"> Status vector for up to 8 servos</field> |
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<field type="float" name="Motor_rpm"> Motor RPM </field> |
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<!-- to be extended--> |
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</message> |
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<message id="206" name="EKF_EXT"> |
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<description>Extended EKF state estimates for ASLUAVs</description> |
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<field type="uint64_t" name="timestamp"> Time since system start [us]</field> |
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<field type="float" name="Windspeed"> Magnitude of wind velocity (in lateral inertial plane) [m/s]</field> |
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<field type="float" name="WindDir"> Wind heading angle from North [rad]</field> |
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<field type="float" name="WindZ"> Z (Down) component of inertial wind velocity [m/s]</field> |
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<field type="float" name="Airspeed"> Magnitude of air velocity [m/s]</field> |
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<field type="float" name="beta"> Sideslip angle [rad]</field> |
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<field type="float" name="alpha"> Angle of attack [rad]</field> |
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</message> |
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<message id="207" name="ASL_OBCTRL"> |
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<description>Off-board controls/commands for ASLUAVs</description> |
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<field type="uint64_t" name="timestamp"> Time since system start [us]</field> |
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<field type="float" name="uElev"> Elevator command [~]</field> |
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<field type="float" name="uThrot"> Throttle command [~]</field> |
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<field type="float" name="uThrot2"> Throttle 2 command [~]</field> |
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<field type="float" name="uAilL"> Left aileron command [~]</field> |
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<field type="float" name="uAilR"> Right aileron command [~]</field> |
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<field type="float" name="uRud"> Rudder command [~]</field> |
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<field type="uint8_t" name="obctrl_status"> Off-board computer status</field> |
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</message> |
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<message id="208" name="SENS_ATMOS"> |
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<description>Atmospheric sensors (temperature, humidity, ...) </description> |
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<field type="float" name="TempAmbient"> Ambient temperature [degrees Celsius]</field> |
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<field type="float" name="Humidity"> Relative humidity [%]</field> |
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</message> |
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</messages> |
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</mavlink>
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