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143 lines
5.9 KiB
143 lines
5.9 KiB
<?xml version='1.0'?> |
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<mavlink> |
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<include>common.xml</include> |
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<enums> |
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<enum name="SENSESOAR_MODE"> |
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<description> Different flight modes </description> |
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<entry name="SENSESOAR_MODE_GLIDING"> |
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<description>Gliding mode with motors off</description> |
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</entry> |
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<entry name="SENSESOAR_MODE_AUTONOMOUS"> |
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<description>Autonomous flight</description> |
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</entry> |
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<entry name="SENSESOAR_MODE_MANUAL"> |
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<description>RC controlled</description> |
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</entry> |
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</enum> |
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</enums> |
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<messages> |
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<message id="170" name="OBS_POSITION"> |
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<description>Position estimate of the observer in global frame</description> |
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<field type="int32_t" name="lon"> |
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<description>Longitude expressed in 1E7</description> |
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</field> |
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<field type="int32_t" name="lat"> |
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<description>Latitude expressed in 1E7</description> |
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</field> |
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<field type="int32_t" name="alt"> |
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<description>Altitude expressed in milimeters</description> |
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</field> |
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</message> |
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<message id="172" name="OBS_VELOCITY"> |
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<description>velocity estimate of the observer in NED inertial frame</description> |
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<field type="float[3]" name="vel"> |
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<description>Velocity</description> |
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</field> |
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</message> |
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<message id="174" name="OBS_ATTITUDE"> |
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<description>attitude estimate of the observe</description> |
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<field type="double[4]" name="quat"> |
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<description>Quaternion re;im</description> |
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</field> |
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</message> |
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<message id="176" name="OBS_WIND"> |
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<description>Wind estimate in NED inertial frame</description> |
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<field type="float[3]" name="wind"> |
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<description>Wind</description> |
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</field> |
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</message> |
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<message id="178" name="OBS_AIR_VELOCITY"> |
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<description>Estimate of the air velocity</description> |
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<field type="float" name="magnitude"> |
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<description>Air speed</description> |
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</field> |
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<field type="float" name="aoa"> |
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<description>angle of attack</description> |
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</field> |
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<field type="float" name="slip"> |
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<description>slip angle</description> |
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</field> |
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</message> |
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<message id="180" name="OBS_BIAS"> |
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<description>IMU biases</description> |
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<field type="float[3]" name="accBias"> |
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<description>accelerometer bias</description> |
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</field> |
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<field type="float[3]" name="gyroBias"> |
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<description>gyroscope bias</description> |
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</field> |
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</message> |
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<message id="182" name="OBS_QFF"> |
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<description>estimate of the pressure at sea level</description> |
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<field type="float" name="qff"> |
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<description>Wind</description> |
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</field> |
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</message> |
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<message id="183" name="OBS_AIR_TEMP"> |
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<description>ambient air temperature</description> |
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<field type="float" name="airT"> |
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<description>Air Temperatur</description> |
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</field> |
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</message> |
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<message id="184" name="FILT_ROT_VEL"> |
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<description>filtered rotational velocity</description> |
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<field type="float[3]" name="rotVel"> |
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<description>rotational velocity</description> |
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</field> |
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</message> |
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<message id="186" name="LLC_OUT"> |
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<description>low level control output</description> |
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<field type="int16_t[4]" name="servoOut"> |
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<description>Servo signal</description> |
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</field> |
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<field type="int16_t[2]" name="MotorOut"> |
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<description>motor signal</description> |
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</field> |
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</message> |
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<message id="188" name="PM_ELEC"> |
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<description>Power managment</description> |
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<field type="float" name="PwCons"> |
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<description>current power consumption</description> |
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</field> |
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<field type="float" name="BatStat"> |
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<description>battery status</description> |
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</field> |
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<field type="float[3]" name="PwGen"> |
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<description>Power generation from each module</description> |
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</field> |
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</message> |
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<message id="190" name="SYS_Stat"> |
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<description>system status</description> |
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<field type="uint8_t" name="gps"> |
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<description>gps status</description> |
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</field> |
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<field type="uint8_t" name="act"> |
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<description>actuator status</description> |
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</field> |
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<field type="uint8_t" name="mod"> |
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<description>module status</description> |
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</field> |
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<field type="uint8_t" name="commRssi"> |
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<description>module status</description> |
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</field> |
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</message> |
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<message id="192" name="CMD_AIRSPEED_CHNG"> |
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<description>change commanded air speed</description> |
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<field type="uint8_t" name="target"> |
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<description>Target ID</description> |
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</field> |
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<field type="float" name="spCmd"> |
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<description>commanded airspeed</description> |
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</field> |
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</message> |
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<message id="194" name="CMD_AIRSPEED_ACK"> |
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<description>accept change of airspeed</description> |
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<field type="float" name="spCmd"> |
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<description>commanded airspeed</description> |
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</field> |
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<field type="uint8_t" name="ack"> |
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<description>0:ack, 1:nack</description> |
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</field> |
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</message> |
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</messages> |
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</mavlink>
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