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lquac.xml
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lquac.xml
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<?xml version='1.0'?>
<mavlink>
<include>common.xml</include>
<version>3</version>
<enums>
<enum name="MSP_CMD">
<description>MSP Companion commands</description>
<entry value="99" name="MSP_CMD_RESTART">
<description>Reboot the MSP companion</description>
</entry>
<entry value="70" name="MSP_CMD_OFFBOARD">
<description>Control offboard updater</description>
<param index="1">component command</param>
</entry>
<entry value="71" name="MSP_CMD_VISION">
<description>EControl vision system</description>
<param index="1">component command</param>
</entry>
<entry value="72" name="MSP_CMD_COMBINEDFILESTREAM">
<description>Control filestream updater</description>
<param index="1">component command</param>
</entry>
<entry value="73" name="MSP_CMD_OFFBOARD_SETLOCALPOS">
<description>Set offboard position via MSP</description>
<param index="1">LocalNED.X (set to NAN to ignore)</param>
<param index="2">LocalNED.Y (set to NAN to ignore)</param>
<param index="3">LocalNED.Z (set to NAN to ignore)</param>
<param index="4">Yaw (deg) (set to NAN to ignore)</param>
</entry>
<entry value="74" name="MSP_TRANSFER_MICROSLAM">
<description>Invalidate MICROSLAM transfer</description>
</entry>
<entry value="75" name="MSP_CMD_MICROSLAM">
<description>Control microslam system</description>
<param index="1">component command</param>
</entry>
<entry value="76" name="MSP_CMD_AUTOMODE">
<description>Set Autopilot mode</description>
<param index="1">component command</param>
<param index="2">autopilot mode</param>
<param index="3">mode parameter</param>
</entry>
<entry value="77" name="MSP_CMD_SET_HOMEPOS">
<description>Sets home position and enables GPOS</description>
<param index="1">latitude</param>
<param index="2">longitude</param>
<param index="3">altitude</param>
</entry>
<entry value="78" name="MSP_CMD_OFFBOARD_SETLOCALVEL">
<description>Set offboard velocities via MSP in vehicle frame</description>
<param index="1">Enable speed control (MSP_COMPONENT_CTRL)</param>
<param index="2">Vel.X (set to NAN to ignore)</param>
<param index="3">Vel.X (set to NAN to ignore)</param>
<param index="4">Vel.Z (set to NAN to ignore)</param>
<param index="5">Vel Yaw (set to NAN to ignore)</param>
</entry>
<entry value="79" name="SET_OPTICAL_TARGET">
<description>Sets video target (default is center) as LPOS targer</description>
<param index="1">X Pos in video (optional)</param>
<param index="2">Y-Pos in video (optional)</param>
</entry>
</enum>
<enum name="MSP_COMPONENT_CTRL">
<description>Component control</description>
<entry value="0" name="DISABLE">
<description>Disable component</description>
</entry>
<entry value="1" name="ENABLE">
<description>Enable component</description>
</entry>
<entry value="2" name="RESET">
<description>reset component</description>
</entry>
<entry value="3" name="CLEAR">
<description>clear component data</description>
</entry>
</enum>
<enum name="MSP_AUTOCONTROL_MODE">
<description>Auto-Control modes (Bit 0-15)</description>
<entry value="0" name="ABORT">
<description>Abort request: Terminates any autopilot action and returns to POSHOLD</description>
</entry>
<entry value="1" name="OBSTACLE_STOP">
<description>JumpBack mode</description>
</entry>
<entry value="2" name="OBSTACLE_AVOIDANCE">
<description>JumpBack mode</description>
</entry>
<entry value="3" name="COLLISION_PREVENTION">
<description>JumpBack mode</description>
</entry>
<entry value="9" name="INTERACTIVE">
<description>Interactive mode (by mouse)</description>
</entry>
</enum>
<enum name="MSP_AUTOCONTROL_ACTION">
<description>Auto-Control action (Bit 16-31)</description>
<entry value="16" name="RTL">
<description>Returns to local home position and lands device</description>
</entry>
<entry value="17" name="WAYPOINT_MODE">
<description>Executes a list of waypoints defined in MSP (param3)</description>
</entry>
<entry value="18" name="AUTO_MISSION">
<description>Execute a MSP mission (param3)</description>
</entry>
<entry value="19" name="DEBUG_MODE1">
<description>Execute a DEBUG1 sequence for testing </description>
</entry>
<entry value="20" name="DEBUG_MODE2">
<description>Execute a DEBUG2 sequence for testing </description>
</entry>
<entry value="21" name="SAVE_MAP2D">
<description>Saves a map corresponding to the global position</description>
</entry>
<entry value="23" name="LOAD_MAP2D">
<description>Load a map corresponding to the global position</description>
</entry>
<entry value="30" name="APPLY_MAP_FILTER">
<description>Applies a map filter to the current map </description>
</entry>
<entry value="31" name="OFFBOARD_UPDATER">
<description>Controls offboard updater</description>
</entry>
</enum>
<enum name="MSP_GRID_STATUS">
<entry value="0" name="GRID_2D">
<description>Grid has a 2D map stored</description>
</entry>
<entry value="1" name="GRID_3D">
<description>Grid has a 3D map stored</description>
</entry>
</enum>
</enums>
<messages>
<message id="180" name="MSP_STATUS">
<description>MSP Status message.</description>
<field type="uint8_t" name="load">CPU load of the companion</field>
<field type="uint8_t" name="memory">Memory usage of the companion</field>
<field type="uint8_t" name="threads">Threads</field>
<field type="uint8_t" name="wifi_quality">Quality of Wifi connection in %</field>
<field type="uint8_t" name="cpu_temp">CPU Temperature</field>
<field type="uint64_t" name="uptime_ms">Boot time ms</field>
<field type="uint32_t" name="com_error">AMA0 communication errors</field>
<field type="uint32_t" name="status">MSP Statusflags</field>
<field type="uint32_t" name="autopilot_mode">Autopilot mode</field>
<field type="char[16]" name="version">MSP software build</field>
<field type="char[10]" name="arch">Companion architecture</field>
<field type="uint64_t" name="unix_time_us">Unix time us</field>
</message>
<message id="181" name="MSP_COMMAND">
<description>MSP Commands.</description>
<field type="uint8_t" name="command">Command to be executed by MSP (defined in MSP_COMMANDS)</field>
<field type="float" name="param1">Parameter 1, as defined by MSP_COMMANDS enum.</field>
<field type="float" name="param2">Parameter 2, as defined by MSP_COMMANDS enum.</field>
<field type="float" name="param3">Parameter 3, as defined by MSP_COMMANDS enum.</field>
<field type="float" name="param4">Parameter 4, as defined by MSP_COMMANDS enum.</field>
<field type="float" name="param5">Parameter 5, as defined by MSP_COMMANDS enum.</field>
<field type="float" name="param6">Parameter 6, as defined by MSP_COMMANDS enum.</field>
</message>
<message id="182" name="MSP_VISION">
<description>MSP Vision</description>
<field type="float" name="x">X Position</field>
<field type="float" name="y">Y Position</field>
<field type="float" name="z">Z Position</field>
<field type="float" name="vx">X Velocity</field>
<field type="float" name="vy">Y Velocity</field>
<field type="float" name="vz">Z Velocity</field>
<field type="float" name="h">Heading</field>
<field type="float" name="p">Pitch</field>
<field type="float" name="r">Roll</field>
<field type="float[36]" name="covariance">6x6 Covariance matrix</field>
<field type="uint8_t" name="quality">Quality of estimation</field>
<field type="float" name="fps">FPS of mocap system</field>
<field type="uint64_t" name="tms">Timestamp</field>
<field type="uint32_t" name="flags">Info flags</field>
<field type="uint32_t" name="errors">Error counter</field>
</message>
<message id="183" name="MSP_MICRO_GRID">
<description>MSP MICRO GRID Data encoded in longs</description>
<field type="int32_t[40]" name="data">SLAM data integers</field>
<field type="uint8_t" name="status">Grid Status</field>
<field type="float" name="cx" >CenterX</field>
<field type="float" name="cy" >CenterY</field>
<field type="float" name="cz" >CenterZ</field>
<field type="float" name="resolution">Resolution in m</field>
<field type="float" name="extension">Extension in m per direction</field>
<field type="uint64_t" name="tms">Timestamp</field>
<field type="uint32_t" name="count">BlockCount</field>
</message>
<message id="184" name="MSP_MICRO_SLAM">
<description>MSP MICRO SLAM Data encoded in longs</description>
<field type="float" name="px" >Planned path X</field>
<field type="float" name="py" >Planned path Y</field>
<field type="float" name="pz" >Planned path Z</field>
<field type="float" name="pd" >Planned direction XY</field>
<field type="float" name="pp" >Planned direction YZ</field>
<field type="float" name="pv" >Planned speed</field>
<field type="float" name="md" >Distance to target</field>
<field type="float" name="mw" >Distance to waypoint</field>
<field type="float" name="dm" >Min.Distance to obstacle</field>
<field type="float" name="ox" >Obstacle X</field>
<field type="float" name="oy" >Obstacle Y</field>
<field type="float" name="oz" >Obstacle Z</field>
<field type="uint32_t" name="wpcount">Counter of waypoints</field>
<field type="uint64_t" name="tms">Timestamp</field>
</message>
</messages>
</mavlink>