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MAVLink: update xml
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@tridge @meee1
tridge authored and meee1 committed Nov 16, 2021
1 parent 7fa8114 commit 0f83225
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31 changes: 27 additions & 4 deletions ExtLibs/Mavlink/message_definitions/ardupilotmega.xml
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<include>uAvionix.xml</include>
<include>icarous.xml</include>
<dialect>2</dialect>
<!-- Note that APM specific messages should use the command id range from 150 to 250, to leave plenty of room for growth of common.xml If you prototype a message here, then you should consider if it is general enough to move into common.xml later -->
<!-- Note that ArduPilot-specific messages should use the command id range from 150 to 250, to leave plenty of room for growth of common.xml If you prototype a message here, then you should consider if it is general enough to move into common.xml later -->
<enums>
<enum name="ACCELCAL_VEHICLE_POS">
<entry value="1" name="ACCELCAL_VEHICLE_POS_LEVEL"/>
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<description>Control onboard scripting.</description>
<param index="1" enum="SCRIPTING_CMD">Scripting command to execute</param>
</entry>
<entry value="42702" name="MAV_CMD_NAV_SCRIPT_TIME" hasLocation="false" isDestination="false">
<description>Scripting command as NAV command with wait for completion.</description>
<param index="1" label="command">integer command number (0 to 255)</param>
<param index="2" label="timeout" units="s">timeout for operation in seconds. Zero means no timeout (0 to 255)</param>
<param index="3" label="arg1">argument1.</param>
<param index="4" label="arg2">argument2.</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="43000" name="MAV_CMD_GUIDED_CHANGE_SPEED" hasLocation="false" isDestination="false">
<description>Change flight speed at a given rate. This slews the vehicle at a controllable rate between it's previous speed and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)</description>
<param index="1" label="speed type" enum="SPEED_TYPE">Airspeed or groundspeed.</param>
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<entry value="1" name="SCRIPTING_CMD_REPL_STOP">
<description>End a REPL session.</description>
</entry>
<entry value="2" name="SCRIPTING_CMD_STOP">
<description>Stop execution of scripts.</description>
</entry>
<entry value="3" name="SCRIPTING_CMD_STOP_AND_RESTART">
<description>Stop execution of scripts and restart.</description>
</entry>
</enum>
<!-- AP_Limits Enums -->
<enum name="LIMITS_STATE">
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<field type="int16_t" name="mag_ofs_z">Magnetometer Z offset.</field>
</message>
<message id="152" name="MEMINFO">
<description>State of APM memory.</description>
<description>State of autopilot RAM.</description>
<field type="uint16_t" name="brkval">Heap top.</field>
<field type="uint16_t" name="freemem" units="bytes">Free memory.</field>
<extensions/>
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<field type="uint8_t" name="save_position">If "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).</field>
</message>
<message id="158" name="MOUNT_STATUS">
<description>Message with some status from APM to GCS about camera or antenna mount.</description>
<description>Message with some status from autopilot to GCS about camera or antenna mount.</description>
<field type="uint8_t" name="target_system">System ID.</field>
<field type="uint8_t" name="target_component">Component ID.</field>
<field type="int32_t" name="pointing_a" units="cdeg">Pitch.</field>
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<field type="float" name="distance" units="m">Distance (uncorrected)</field>
<field type="float" name="temperature" units="degC">Water temperature</field>
</message>
<message id="11039" name="MCU_STATUS">
<description>The MCU status, giving MCU temperature and voltage. The min and max voltages are to allow for detecting power supply instability.</description>
<field type="uint8_t" name="id" instance="true">MCU instance</field>
<field type="int16_t" name="MCU_temperature" units="cdegC">MCU Internal temperature</field>
<field type="uint16_t" name="MCU_voltage" units="mV">MCU voltage</field>
<field type="uint16_t" name="MCU_voltage_min" units="mV">MCU voltage minimum</field>
<field type="uint16_t" name="MCU_voltage_max" units="mV">MCU voltage maximum</field>
</message>
</messages>
</mavlink>

79 changes: 77 additions & 2 deletions ExtLibs/Mavlink/message_definitions/common.xml
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<description>Gimbal tracks home location</description>
</entry>
</enum>
<!-- Gimbal Device Capability Enumeration. Used by latest (2021) STorM32 and mavlink Gimbal v2 -->
<enum name="GIMBAL_DEVICE_CAP_FLAGS" bitmask="true">
<description>Gimbal device (low level) capability flags (bitmap)</description>
<entry value="1" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT">
<description>Gimbal device supports a retracted position</description>
</entry>
<entry value="2" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL">
<description>Gimbal device supports a horizontal, forward looking position, stabilized</description>
</entry>
<entry value="4" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS">
<description>Gimbal device supports rotating around roll axis.</description>
</entry>
<entry value="8" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW">
<description>Gimbal device supports to follow a roll angle relative to the vehicle</description>
</entry>
<entry value="16" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK">
<description>Gimbal device supports locking to an roll angle (generally that's the default with roll stabilized)</description>
</entry>
<entry value="32" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS">
<description>Gimbal device supports rotating around pitch axis.</description>
</entry>
<entry value="64" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW">
<description>Gimbal device supports to follow a pitch angle relative to the vehicle</description>
</entry>
<entry value="128" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK">
<description>Gimbal device supports locking to an pitch angle (generally that's the default with pitch stabilized)</description>
</entry>
<entry value="256" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS">
<description>Gimbal device supports rotating around yaw axis.</description>
</entry>
<entry value="512" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW">
<description>Gimbal device supports to follow a yaw angle relative to the vehicle (generally that's the default)</description>
</entry>
<entry value="1024" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK">
<description>Gimbal device supports locking to an absolute heading (often this is an option available)</description>
</entry>
<entry value="2048" name="GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW">
<description>Gimbal device supports yawing/panning infinetely (e.g. using slip disk).</description>
</entry>
</enum>
<!-- gripper action enum -->
<enum name="GRIPPER_ACTIONS">
<description>Gripper actions.</description>
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<field type="float" name="available_capacity" units="MiB">Available storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.</field>
<field type="float" name="read_speed" units="MiB/s">Read speed.</field>
<field type="float" name="write_speed" units="MiB/s">Write speed.</field>
<extensions/>
<field type="uint8_t" name="type" enum="STORAGE_TYPE">Type of storage</field>
<field type="char[32]" name="name">Textual storage name to be used in UI (microSD 1, Internal Memory, etc.) This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, the generic type is shown to the user.</field>
</message>
<message id="262" name="CAMERA_CAPTURE_STATUS">
<description>Information about the status of a capture. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.</description>
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<field type="uint8_t" name="target_component">component ID of the target</field>
<field type="uint16_t" name="sequence">sequence number (must match the one in LOGGING_DATA_ACKED)</field>
</message>
<message id="99269" name="VIDEO_STREAM_INFORMATION99">
<message id="269" name="VIDEO_STREAM_INFORMATION">
<description>Information about video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE, where param2 indicates the video stream id: 0 for all streams, 1 for first, 2 for second, etc.</description>
<field type="uint8_t" name="stream_id" instance="true">Video Stream ID (1 for first, 2 for second, etc.)</field>
<field type="uint8_t" name="count">Number of streams available.</field>
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<field type="uint16_t" name="rotation" units="deg">Video image rotation clockwise</field>
<field type="uint16_t" name="hfov" units="deg">Horizontal Field of view</field>
</message>
<message id="283" name="GIMBAL_DEVICE_INFORMATION">
<description>Information about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE. The maximum angles and rates are the limits by hardware. However, the limits by software used are likely different/smaller and dependent on mode/settings/etc..</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="char[32]" name="vendor_name">Name of the gimbal vendor.</field>
<field type="char[32]" name="model_name">Name of the gimbal model.</field>
<field type="char[32]" name="custom_name">Custom name of the gimbal given to it by the user.</field>
<field type="uint32_t" name="firmware_version">Version of the gimbal firmware, encoded as: (Dev &amp; 0xff) &lt;&lt; 24 | (Patch &amp; 0xff) &lt;&lt; 16 | (Minor &amp; 0xff) &lt;&lt; 8 | (Major &amp; 0xff).</field>
<field type="uint32_t" name="hardware_version">Version of the gimbal hardware, encoded as: (Dev &amp; 0xff) &lt;&lt; 24 | (Patch &amp; 0xff) &lt;&lt; 16 | (Minor &amp; 0xff) &lt;&lt; 8 | (Major &amp; 0xff).</field>
<field type="uint64_t" name="uid" invalid="0">UID of gimbal hardware (0 if unknown).</field>
<field type="uint16_t" name="cap_flags" enum="GIMBAL_DEVICE_CAP_FLAGS" display="bitmask">Bitmap of gimbal capability flags.</field>
<field type="uint16_t" name="custom_cap_flags" display="bitmask">Bitmap for use for gimbal-specific capability flags.</field>
<field type="float" name="roll_min" units="rad">Minimum hardware roll angle (positive: rolling to the right, negative: rolling to the left)</field>
<field type="float" name="roll_max" units="rad">Maximum hardware roll angle (positive: rolling to the right, negative: rolling to the left)</field>
<field type="float" name="pitch_min" units="rad">Minimum hardware pitch angle (positive: up, negative: down)</field>
<field type="float" name="pitch_max" units="rad">Maximum hardware pitch angle (positive: up, negative: down)</field>
<field type="float" name="yaw_min" units="rad">Minimum hardware yaw angle (positive: to the right, negative: to the left)</field>
<field type="float" name="yaw_max" units="rad">Maximum hardware yaw angle (positive: to the right, negative: to the left)</field>
</message>
<message id="286" name="AUTOPILOT_STATE_FOR_GIMBAL_DEVICE">
<description>Low level message containing autopilot state relevant for a gimbal device. This message is to be sent from the gimbal manager to the gimbal device component. The data of this message server for the gimbal's estimator corrections in particular horizon compensation, as well as the autopilot's control intention e.g. feed forward angular control in z-axis.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint64_t" name="time_boot_us" units="us">Timestamp (time since system boot).</field>
<field type="float[4]" name="q">Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).</field>
<field type="uint32_t" name="q_estimated_delay_us" units="us">Estimated delay of the attitude data.</field>
<field type="float" name="vx" units="m/s">X Speed in NED (North, East, Down).</field>
<field type="float" name="vy" units="m/s">Y Speed in NED (North, East, Down).</field>
<field type="float" name="vz" units="m/s">Z Speed in NED (North, East, Down).</field>
<field type="uint32_t" name="v_estimated_delay_us" units="us">Estimated delay of the speed data.</field>
<field type="float" name="feed_forward_angular_velocity_z" units="rad/s" invalid="NaN">Feed forward Z component of angular velocity, positive is yawing to the right, NaN to be ignored. This is to indicate if the autopilot is actively yawing.</field>
<field type="uint16_t" name="estimator_status" enum="ESTIMATOR_STATUS_FLAGS" display="bitmask">Bitmap indicating which estimator outputs are valid.</field>
<field type="uint8_t" name="landed_state" enum="MAV_LANDED_STATE" invalid="MAV_LANDED_STATE_UNDEFINED">The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.</field>
</message>
<message id="299" name="WIFI_CONFIG_AP">
<description>Configure WiFi AP SSID, password, and mode. This message is re-emitted as an acknowledgement by the AP. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE</description>
<field type="char[32]" name="ssid">Name of Wi-Fi network (SSID). Blank to leave it unchanged when setting. Current SSID when sent back as a response.</field>
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</message>
</messages>
</mavlink>

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