[Mavlink] cmd & msg 정리

MAVLink

MAV_CMD_DO_VTOL_TRANSITION (3000)

Request VTOL transition

Param (Label)	Description	Values
1 (State)	The target VTOL state. For normal transitions, only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.	MAV_VTOL_STATE
2 (Immediate)	Force immediate transition to the specified MAV_VTOL_STATE. 1: Force immediate, 0: normal transition. Can be used, for example, to trigger an emergency "Quadchute". Caution: Can be dangerous/damage vehicle, depending on autopilot implementation of this command.

Ref. https://mavlink.io/en/messages/common.html#MAV_CMD_DO_VTOL_TRANSITION

MAV_CMD_NAV_VTOL_TAKEOFF (84)

• Takeoff from ground using VTOL mode
• transition to forward flight with specified heading.
• The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight (multicopters, boats,etc.).

Param (Label)	Description	Values	Units
1	Empty
2 (Transition Heading)	Front transition heading.	VTOL_TRANSITION_HEADING
3	Empty
4 (Yaw Angle)	Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).		deg
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Altitude)	Altitude		m

MAV_CMD_DO_CHANGE_SPEED

Param (Label)	Description	Values	Units
1 (Speed Type)	Speed type of value set in param2 (such as airspeed, ground speed, and so on)	SPEED_TYPE
2 (Speed)	Speed (-1 indicates no change, -2 indicates return to default vehicle speed)	min: -2	m/s
3 (Throttle)	Throttle (-1 indicates no change, -2 indicates return to default vehicle throttle value)	min: -2	%
4
5
6
7

MAVLink Messages

MAV_VTOL_STATE

Enumeration of VTOL states

Value	Name	Description
0	MAV_VTOL_STATE_UNDEFINED	MAV is not configured as VTOL
1	MAV_VTOL_STATE_TRANSITION_TO_FW	VTOL is in transition from multicopter to fixed-wing
2	MAV_VTOL_STATE_TRANSITION_TO_MC	VTOL is in transition from fixed-wing to multicopter
3	MAV_VTOL_STATE_MC	VTOL is in multicopter state
4	MAV_VTOL_STATE_FW	VTOL is in fixed-wing state

REf. https://mavlink.io/en/messages/common.html#MAV_VTOL_STATE

ex)
# include <mavros_msgs/msg/extended_state.hpp>
mavros_msgs::msg::ExtendedState::VTOL_STATE_FW

VTOL_TRANSITION_HEADING

Direction of VTOL transition

Value	Name	Description
0	VTOL_TRANSITION_HEADING_VEHICLE_DEFAULT	Respect the heading configuration of the vehicle.
1	VTOL_TRANSITION_HEADING_NEXT_WAYPOINT	Use the heading pointing towards the next waypoint.
2	VTOL_TRANSITION_HEADING_TAKEOFF	Use the heading on takeoff (while sitting on the ground).
3	VTOL_TRANSITION_HEADING_SPECIFIED	Use the specified heading in parameter 4.
4	VTOL_TRANSITION_HEADING_ANY	Use the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active).

SPEED_TYPE

Value	Name	Description
0	SPEED_TYPE_AIRSPEED	Airspeed
1	SPEED_TYPE_GROUNDSPEED	Groundspeed
2	SPEED_TYPE_CLIMB_SPEED	Climb speed
3	SPEED_TYPE_DESCENT_SPEED	Descent speed