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mavlink_px4.py
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mavlink_px4.py
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'''
MAVLink protocol implementation (auto-generated by mavgen.py)
Generated from: common.xml
Note: this file has been auto-generated. DO NOT EDIT
'''
import struct, array, mavutil, time, json
WIRE_PROTOCOL_VERSION = "1.0"
# some base types from mavlink_types.h
MAVLINK_TYPE_CHAR = 0
MAVLINK_TYPE_UINT8_T = 1
MAVLINK_TYPE_INT8_T = 2
MAVLINK_TYPE_UINT16_T = 3
MAVLINK_TYPE_INT16_T = 4
MAVLINK_TYPE_UINT32_T = 5
MAVLINK_TYPE_INT32_T = 6
MAVLINK_TYPE_UINT64_T = 7
MAVLINK_TYPE_INT64_T = 8
MAVLINK_TYPE_FLOAT = 9
MAVLINK_TYPE_DOUBLE = 10
class MAVLink_header(object):
'''MAVLink message header'''
def __init__(self, msgId, mlen=0, seq=0, srcSystem=0, srcComponent=0):
self.mlen = mlen
self.seq = seq
self.srcSystem = srcSystem
self.srcComponent = srcComponent
self.msgId = msgId
def pack(self):
return struct.pack('BBBBBB', 254, self.mlen, self.seq,
self.srcSystem, self.srcComponent, self.msgId)
class MAVLink_message(object):
'''base MAVLink message class'''
def __init__(self, msgId, name):
self._header = MAVLink_header(msgId)
self._payload = None
self._msgbuf = None
self._crc = None
self._fieldnames = []
self._type = name
def get_msgbuf(self):
if isinstance(self._msgbuf, str):
return self._msgbuf
return self._msgbuf.tostring()
def get_header(self):
return self._header
def get_payload(self):
return self._payload
def get_crc(self):
return self._crc
def get_fieldnames(self):
return self._fieldnames
def get_type(self):
return self._type
def get_msgId(self):
return self._header.msgId
def get_srcSystem(self):
return self._header.srcSystem
def get_srcComponent(self):
return self._header.srcComponent
def get_seq(self):
return self._header.seq
def __str__(self):
ret = '%s {' % self._type
for a in self._fieldnames:
v = getattr(self, a)
ret += '%s : %s, ' % (a, v)
ret = ret[0:-2] + '}'
return ret
def to_dict(self):
d = dict({})
d['mavpackettype'] = self._type
for a in self._fieldnames:
d[a] = getattr(self, a)
return d
def to_json(self):
return json.dumps(self.to_dict)
def pack(self, mav, crc_extra, payload):
self._payload = payload
self._header = MAVLink_header(self._header.msgId, len(payload), mav.seq,
mav.srcSystem, mav.srcComponent)
self._msgbuf = self._header.pack() + payload
crc = mavutil.x25crc(self._msgbuf[1:])
if True: # using CRC extra
crc.accumulate(chr(crc_extra))
self._crc = crc.crc
self._msgbuf += struct.pack('<H', self._crc)
return self._msgbuf
# enums
# MAV_AUTOPILOT
MAV_AUTOPILOT_GENERIC = 0 # Generic autopilot, full support for everything
MAV_AUTOPILOT_PIXHAWK = 1 # PIXHAWK autopilot, http://pixhawk.ethz.ch
MAV_AUTOPILOT_SLUGS = 2 # SLUGS autopilot, http://slugsuav.soe.ucsc.edu
MAV_AUTOPILOT_ARDUPILOTMEGA = 3 # ArduPilotMega / ArduCopter, http://diydrones.com
MAV_AUTOPILOT_OPENPILOT = 4 # OpenPilot, http://openpilot.org
MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY = 5 # Generic autopilot only supporting simple waypoints
MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY = 6 # Generic autopilot supporting waypoints and other simple navigation
# commands
MAV_AUTOPILOT_GENERIC_MISSION_FULL = 7 # Generic autopilot supporting the full mission command set
MAV_AUTOPILOT_INVALID = 8 # No valid autopilot, e.g. a GCS or other MAVLink component
MAV_AUTOPILOT_PPZ = 9 # PPZ UAV - http://nongnu.org/paparazzi
MAV_AUTOPILOT_UDB = 10 # UAV Dev Board
MAV_AUTOPILOT_FP = 11 # FlexiPilot
MAV_AUTOPILOT_PX4 = 12 # PX4 Autopilot - http://pixhawk.ethz.ch/px4/
MAV_AUTOPILOT_ENUM_END = 13 #
# MAV_TYPE
MAV_TYPE_GENERIC = 0 # Generic micro air vehicle.
MAV_TYPE_FIXED_WING = 1 # Fixed wing aircraft.
MAV_TYPE_QUADROTOR = 2 # Quadrotor
MAV_TYPE_COAXIAL = 3 # Coaxial helicopter
MAV_TYPE_HELICOPTER = 4 # Normal helicopter with tail rotor.
MAV_TYPE_ANTENNA_TRACKER = 5 # Ground installation
MAV_TYPE_GCS = 6 # Operator control unit / ground control station
MAV_TYPE_AIRSHIP = 7 # Airship, controlled
MAV_TYPE_FREE_BALLOON = 8 # Free balloon, uncontrolled
MAV_TYPE_ROCKET = 9 # Rocket
MAV_TYPE_GROUND_ROVER = 10 # Ground rover
MAV_TYPE_SURFACE_BOAT = 11 # Surface vessel, boat, ship
MAV_TYPE_SUBMARINE = 12 # Submarine
MAV_TYPE_HEXAROTOR = 13 # Hexarotor
MAV_TYPE_OCTOROTOR = 14 # Octorotor
MAV_TYPE_TRICOPTER = 15 # Octorotor
MAV_TYPE_FLAPPING_WING = 16 # Flapping wing
MAV_TYPE_KITE = 17 # Flapping wing
MAV_TYPE_ENUM_END = 18 #
# MAV_MODE_FLAG
MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1 # 0b00000001 Reserved for future use.
MAV_MODE_FLAG_TEST_ENABLED = 2 # 0b00000010 system has a test mode enabled. This flag is intended for
# temporary system tests and should not be
# used for stable implementations.
MAV_MODE_FLAG_AUTO_ENABLED = 4 # 0b00000100 autonomous mode enabled, system finds its own goal
# positions. Guided flag can be set or not,
# depends on the actual implementation.
MAV_MODE_FLAG_GUIDED_ENABLED = 8 # 0b00001000 guided mode enabled, system flies MISSIONs / mission items.
MAV_MODE_FLAG_STABILIZE_ENABLED = 16 # 0b00010000 system stabilizes electronically its attitude (and
# optionally position). It needs however
# further control inputs to move around.
MAV_MODE_FLAG_HIL_ENABLED = 32 # 0b00100000 hardware in the loop simulation. All motors / actuators are
# blocked, but internal software is full
# operational.
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED = 64 # 0b01000000 remote control input is enabled.
MAV_MODE_FLAG_SAFETY_ARMED = 128 # 0b10000000 MAV safety set to armed. Motors are enabled / running / can
# start. Ready to fly.
MAV_MODE_FLAG_ENUM_END = 129 #
# MAV_MODE_FLAG_DECODE_POSITION
MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE = 1 # Eighth bit: 00000001
MAV_MODE_FLAG_DECODE_POSITION_TEST = 2 # Seventh bit: 00000010
MAV_MODE_FLAG_DECODE_POSITION_AUTO = 4 # Sixt bit: 00000100
MAV_MODE_FLAG_DECODE_POSITION_GUIDED = 8 # Fifth bit: 00001000
MAV_MODE_FLAG_DECODE_POSITION_STABILIZE = 16 # Fourth bit: 00010000
MAV_MODE_FLAG_DECODE_POSITION_HIL = 32 # Third bit: 00100000
MAV_MODE_FLAG_DECODE_POSITION_MANUAL = 64 # Second bit: 01000000
MAV_MODE_FLAG_DECODE_POSITION_SAFETY = 128 # First bit: 10000000
MAV_MODE_FLAG_DECODE_POSITION_ENUM_END = 129 #
# MAV_GOTO
MAV_GOTO_DO_HOLD = 0 # Hold at the current position.
MAV_GOTO_DO_CONTINUE = 1 # Continue with the next item in mission execution.
MAV_GOTO_HOLD_AT_CURRENT_POSITION = 2 # Hold at the current position of the system
MAV_GOTO_HOLD_AT_SPECIFIED_POSITION = 3 # Hold at the position specified in the parameters of the DO_HOLD action
MAV_GOTO_ENUM_END = 4 #
# MAV_MODE
MAV_MODE_PREFLIGHT = 0 # System is not ready to fly, booting, calibrating, etc. No flag is set.
MAV_MODE_MANUAL_DISARMED = 64 # System is allowed to be active, under manual (RC) control, no
# stabilization
MAV_MODE_TEST_DISARMED = 66 # UNDEFINED mode. This solely depends on the autopilot - use with
# caution, intended for developers only.
MAV_MODE_STABILIZE_DISARMED = 80 # System is allowed to be active, under assisted RC control.
MAV_MODE_GUIDED_DISARMED = 88 # System is allowed to be active, under autonomous control, manual
# setpoint
MAV_MODE_AUTO_DISARMED = 92 # System is allowed to be active, under autonomous control and
# navigation (the trajectory is decided
# onboard and not pre-programmed by MISSIONs)
MAV_MODE_MANUAL_ARMED = 192 # System is allowed to be active, under manual (RC) control, no
# stabilization
MAV_MODE_TEST_ARMED = 194 # UNDEFINED mode. This solely depends on the autopilot - use with
# caution, intended for developers only.
MAV_MODE_STABILIZE_ARMED = 208 # System is allowed to be active, under assisted RC control.
MAV_MODE_GUIDED_ARMED = 216 # System is allowed to be active, under autonomous control, manual
# setpoint
MAV_MODE_AUTO_ARMED = 220 # System is allowed to be active, under autonomous control and
# navigation (the trajectory is decided
# onboard and not pre-programmed by MISSIONs)
MAV_MODE_ENUM_END = 221 #
# MAV_STATE
MAV_STATE_UNINIT = 0 # Uninitialized system, state is unknown.
MAV_STATE_BOOT = 1 # System is booting up.
MAV_STATE_CALIBRATING = 2 # System is calibrating and not flight-ready.
MAV_STATE_STANDBY = 3 # System is grounded and on standby. It can be launched any time.
MAV_STATE_ACTIVE = 4 # System is active and might be already airborne. Motors are engaged.
MAV_STATE_CRITICAL = 5 # System is in a non-normal flight mode. It can however still navigate.
MAV_STATE_EMERGENCY = 6 # System is in a non-normal flight mode. It lost control over parts or
# over the whole airframe. It is in mayday and
# going down.
MAV_STATE_POWEROFF = 7 # System just initialized its power-down sequence, will shut down now.
MAV_STATE_ENUM_END = 8 #
# MAV_COMPONENT
MAV_COMP_ID_ALL = 0 #
MAV_COMP_ID_CAMERA = 100 #
MAV_COMP_ID_SERVO1 = 140 #
MAV_COMP_ID_SERVO2 = 141 #
MAV_COMP_ID_SERVO3 = 142 #
MAV_COMP_ID_SERVO4 = 143 #
MAV_COMP_ID_SERVO5 = 144 #
MAV_COMP_ID_SERVO6 = 145 #
MAV_COMP_ID_SERVO7 = 146 #
MAV_COMP_ID_SERVO8 = 147 #
MAV_COMP_ID_SERVO9 = 148 #
MAV_COMP_ID_SERVO10 = 149 #
MAV_COMP_ID_SERVO11 = 150 #
MAV_COMP_ID_SERVO12 = 151 #
MAV_COMP_ID_SERVO13 = 152 #
MAV_COMP_ID_SERVO14 = 153 #
MAV_COMP_ID_MAPPER = 180 #
MAV_COMP_ID_MISSIONPLANNER = 190 #
MAV_COMP_ID_PATHPLANNER = 195 #
MAV_COMP_ID_IMU = 200 #
MAV_COMP_ID_IMU_2 = 201 #
MAV_COMP_ID_IMU_3 = 202 #
MAV_COMP_ID_GPS = 220 #
MAV_COMP_ID_UDP_BRIDGE = 240 #
MAV_COMP_ID_UART_BRIDGE = 241 #
MAV_COMP_ID_SYSTEM_CONTROL = 250 #
MAV_COMPONENT_ENUM_END = 251 #
# MAV_FRAME
MAV_FRAME_GLOBAL = 0 # Global coordinate frame, WGS84 coordinate system. First value / x:
# latitude, second value / y: longitude, third
# value / z: positive altitude over mean sea
# level (MSL)
MAV_FRAME_LOCAL_NED = 1 # Local coordinate frame, Z-up (x: north, y: east, z: down).
MAV_FRAME_MISSION = 2 # NOT a coordinate frame, indicates a mission command.
MAV_FRAME_GLOBAL_RELATIVE_ALT = 3 # Global coordinate frame, WGS84 coordinate system, relative altitude
# over ground with respect to the home
# position. First value / x: latitude, second
# value / y: longitude, third value / z:
# positive altitude with 0 being at the
# altitude of the home location.
MAV_FRAME_LOCAL_ENU = 4 # Local coordinate frame, Z-down (x: east, y: north, z: up)
MAV_FRAME_ENUM_END = 5 #
# MAVLINK_DATA_STREAM_TYPE
MAVLINK_DATA_STREAM_IMG_JPEG = 1 #
MAVLINK_DATA_STREAM_IMG_BMP = 2 #
MAVLINK_DATA_STREAM_IMG_RAW8U = 3 #
MAVLINK_DATA_STREAM_IMG_RAW32U = 4 #
MAVLINK_DATA_STREAM_IMG_PGM = 5 #
MAVLINK_DATA_STREAM_IMG_PNG = 6 #
MAVLINK_DATA_STREAM_TYPE_ENUM_END = 7 #
# MAV_CMD
MAV_CMD_NAV_WAYPOINT = 16 # Navigate to MISSION.
MAV_CMD_NAV_LOITER_UNLIM = 17 # Loiter around this MISSION an unlimited amount of time
MAV_CMD_NAV_LOITER_TURNS = 18 # Loiter around this MISSION for X turns
MAV_CMD_NAV_LOITER_TIME = 19 # Loiter around this MISSION for X seconds
MAV_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location
MAV_CMD_NAV_LAND = 21 # Land at location
MAV_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand
MAV_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle
# itself. This can then be used by the
# vehicles control system to control the
# vehicle attitude and the attitude of various
# sensors such as cameras.
MAV_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV.
MAV_CMD_NAV_LAST = 95 # NOP - This command is only used to mark the upper limit of the
# NAV/ACTION commands in the enumeration
MAV_CMD_CONDITION_DELAY = 112 # Delay mission state machine.
MAV_CMD_CONDITION_CHANGE_ALT = 113 # Ascend/descend at rate. Delay mission state machine until desired
# altitude reached.
MAV_CMD_CONDITION_DISTANCE = 114 # Delay mission state machine until within desired distance of next NAV
# point.
MAV_CMD_CONDITION_YAW = 115 # Reach a certain target angle.
MAV_CMD_CONDITION_LAST = 159 # NOP - This command is only used to mark the upper limit of the
# CONDITION commands in the enumeration
MAV_CMD_DO_SET_MODE = 176 # Set system mode.
MAV_CMD_DO_JUMP = 177 # Jump to the desired command in the mission list. Repeat this action
# only the specified number of times
MAV_CMD_DO_CHANGE_SPEED = 178 # Change speed and/or throttle set points.
MAV_CMD_DO_SET_HOME = 179 # Changes the home location either to the current location or a
# specified location.
MAV_CMD_DO_SET_PARAMETER = 180 # Set a system parameter. Caution! Use of this command requires
# knowledge of the numeric enumeration value
# of the parameter.
MAV_CMD_DO_SET_RELAY = 181 # Set a relay to a condition.
MAV_CMD_DO_REPEAT_RELAY = 182 # Cycle a relay on and off for a desired number of cyles with a desired
# period.
MAV_CMD_DO_SET_SERVO = 183 # Set a servo to a desired PWM value.
MAV_CMD_DO_REPEAT_SERVO = 184 # Cycle a between its nominal setting and a desired PWM for a desired
# number of cycles with a desired period.
MAV_CMD_DO_CONTROL_VIDEO = 200 # Control onboard camera system.
MAV_CMD_DO_LAST = 240 # NOP - This command is only used to mark the upper limit of the DO
# commands in the enumeration
MAV_CMD_PREFLIGHT_CALIBRATION = 241 # Trigger calibration. This command will be only accepted if in pre-
# flight mode.
MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242 # Set sensor offsets. This command will be only accepted if in pre-
# flight mode.
MAV_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command
# will be only accepted if in pre-flight mode.
MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246 # Request the reboot or shutdown of system components.
MAV_CMD_OVERRIDE_GOTO = 252 # Hold / continue the current action
MAV_CMD_MISSION_START = 300 # start running a mission
MAV_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component
MAV_CMD_ENUM_END = 401 #
# MAV_DATA_STREAM
MAV_DATA_STREAM_ALL = 0 # Enable all data streams
MAV_DATA_STREAM_RAW_SENSORS = 1 # Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.
MAV_DATA_STREAM_EXTENDED_STATUS = 2 # Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
MAV_DATA_STREAM_RC_CHANNELS = 3 # Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
MAV_DATA_STREAM_RAW_CONTROLLER = 4 # Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT,
# NAV_CONTROLLER_OUTPUT.
MAV_DATA_STREAM_POSITION = 6 # Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.
MAV_DATA_STREAM_EXTRA1 = 10 # Dependent on the autopilot
MAV_DATA_STREAM_EXTRA2 = 11 # Dependent on the autopilot
MAV_DATA_STREAM_EXTRA3 = 12 # Dependent on the autopilot
MAV_DATA_STREAM_ENUM_END = 13 #
# MAV_ROI
MAV_ROI_NONE = 0 # No region of interest.
MAV_ROI_WPNEXT = 1 # Point toward next MISSION.
MAV_ROI_WPINDEX = 2 # Point toward given MISSION.
MAV_ROI_LOCATION = 3 # Point toward fixed location.
MAV_ROI_TARGET = 4 # Point toward of given id.
MAV_ROI_ENUM_END = 5 #
# MAV_CMD_ACK
MAV_CMD_ACK_OK = 1 # Command / mission item is ok.
MAV_CMD_ACK_ERR_FAIL = 2 # Generic error message if none of the other reasons fails or if no
# detailed error reporting is implemented.
MAV_CMD_ACK_ERR_ACCESS_DENIED = 3 # The system is refusing to accept this command from this source /
# communication partner.
MAV_CMD_ACK_ERR_NOT_SUPPORTED = 4 # Command or mission item is not supported, other commands would be
# accepted.
MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTED = 5 # The coordinate frame of this command / mission item is not supported.
MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGE = 6 # The coordinate frame of this command is ok, but he coordinate values
# exceed the safety limits of this system.
# This is a generic error, please use the more
# specific error messages below if possible.
MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE = 7 # The X or latitude value is out of range.
MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE = 8 # The Y or longitude value is out of range.
MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE = 9 # The Z or altitude value is out of range.
MAV_CMD_ACK_ENUM_END = 10 #
# MAV_PARAM_TYPE
MAV_PARAM_TYPE_UINT8 = 1 # 8-bit unsigned integer
MAV_PARAM_TYPE_INT8 = 2 # 8-bit signed integer
MAV_PARAM_TYPE_UINT16 = 3 # 16-bit unsigned integer
MAV_PARAM_TYPE_INT16 = 4 # 16-bit signed integer
MAV_PARAM_TYPE_UINT32 = 5 # 32-bit unsigned integer
MAV_PARAM_TYPE_INT32 = 6 # 32-bit signed integer
MAV_PARAM_TYPE_UINT64 = 7 # 64-bit unsigned integer
MAV_PARAM_TYPE_INT64 = 8 # 64-bit signed integer
MAV_PARAM_TYPE_REAL32 = 9 # 32-bit floating-point
MAV_PARAM_TYPE_REAL64 = 10 # 64-bit floating-point
MAV_PARAM_TYPE_ENUM_END = 11 #
# MAV_RESULT
MAV_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED
MAV_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED
MAV_RESULT_DENIED = 2 # Command PERMANENTLY DENIED
MAV_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED
MAV_RESULT_FAILED = 4 # Command executed, but failed
MAV_RESULT_ENUM_END = 5 #
# MAV_MISSION_RESULT
MAV_MISSION_ACCEPTED = 0 # mission accepted OK
MAV_MISSION_ERROR = 1 # generic error / not accepting mission commands at all right now
MAV_MISSION_UNSUPPORTED_FRAME = 2 # coordinate frame is not supported
MAV_MISSION_UNSUPPORTED = 3 # command is not supported
MAV_MISSION_NO_SPACE = 4 # mission item exceeds storage space
MAV_MISSION_INVALID = 5 # one of the parameters has an invalid value
MAV_MISSION_INVALID_PARAM1 = 6 # param1 has an invalid value
MAV_MISSION_INVALID_PARAM2 = 7 # param2 has an invalid value
MAV_MISSION_INVALID_PARAM3 = 8 # param3 has an invalid value
MAV_MISSION_INVALID_PARAM4 = 9 # param4 has an invalid value
MAV_MISSION_INVALID_PARAM5_X = 10 # x/param5 has an invalid value
MAV_MISSION_INVALID_PARAM6_Y = 11 # y/param6 has an invalid value
MAV_MISSION_INVALID_PARAM7 = 12 # param7 has an invalid value
MAV_MISSION_INVALID_SEQUENCE = 13 # received waypoint out of sequence
MAV_MISSION_DENIED = 14 # not accepting any mission commands from this communication partner
MAV_MISSION_RESULT_ENUM_END = 15 #
# MAV_SEVERITY
MAV_SEVERITY_EMERGENCY = 0 # System is unusable. This is a "panic" condition.
MAV_SEVERITY_ALERT = 1 # Action should be taken immediately. Indicates error in non-critical
# systems.
MAV_SEVERITY_CRITICAL = 2 # Action must be taken immediately. Indicates failure in a primary
# system.
MAV_SEVERITY_ERROR = 3 # Indicates an error in secondary/redundant systems.
MAV_SEVERITY_WARNING = 4 # Indicates about a possible future error if this is not resolved within
# a given timeframe. Example would be a low
# battery warning.
MAV_SEVERITY_NOTICE = 5 # An unusual event has occured, though not an error condition. This
# should be investigated for the root cause.
MAV_SEVERITY_INFO = 6 # Normal operational messages. Useful for logging. No action is required
# for these messages.
MAV_SEVERITY_DEBUG = 7 # Useful non-operational messages that can assist in debugging. These
# should not occur during normal operation.
MAV_SEVERITY_ENUM_END = 8 #
# message IDs
MAVLINK_MSG_ID_BAD_DATA = -1
MAVLINK_MSG_ID_HEARTBEAT = 0
MAVLINK_MSG_ID_SYS_STATUS = 1
MAVLINK_MSG_ID_SYSTEM_TIME = 2
MAVLINK_MSG_ID_PING = 4
MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL = 5
MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK = 6
MAVLINK_MSG_ID_AUTH_KEY = 7
MAVLINK_MSG_ID_SET_MODE = 11
MAVLINK_MSG_ID_PARAM_REQUEST_READ = 20
MAVLINK_MSG_ID_PARAM_REQUEST_LIST = 21
MAVLINK_MSG_ID_PARAM_VALUE = 22
MAVLINK_MSG_ID_PARAM_SET = 23
MAVLINK_MSG_ID_GPS_RAW_INT = 24
MAVLINK_MSG_ID_GPS_STATUS = 25
MAVLINK_MSG_ID_SCALED_IMU = 26
MAVLINK_MSG_ID_RAW_IMU = 27
MAVLINK_MSG_ID_RAW_PRESSURE = 28
MAVLINK_MSG_ID_SCALED_PRESSURE = 29
MAVLINK_MSG_ID_ATTITUDE = 30
MAVLINK_MSG_ID_ATTITUDE_QUATERNION = 31
MAVLINK_MSG_ID_LOCAL_POSITION_NED = 32
MAVLINK_MSG_ID_GLOBAL_POSITION_INT = 33
MAVLINK_MSG_ID_RC_CHANNELS_SCALED = 34
MAVLINK_MSG_ID_RC_CHANNELS_RAW = 35
MAVLINK_MSG_ID_SERVO_OUTPUT_RAW = 36
MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST = 37
MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST = 38
MAVLINK_MSG_ID_MISSION_ITEM = 39
MAVLINK_MSG_ID_MISSION_REQUEST = 40
MAVLINK_MSG_ID_MISSION_SET_CURRENT = 41
MAVLINK_MSG_ID_MISSION_CURRENT = 42
MAVLINK_MSG_ID_MISSION_REQUEST_LIST = 43
MAVLINK_MSG_ID_MISSION_COUNT = 44
MAVLINK_MSG_ID_MISSION_CLEAR_ALL = 45
MAVLINK_MSG_ID_MISSION_ITEM_REACHED = 46
MAVLINK_MSG_ID_MISSION_ACK = 47
MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN = 48
MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN = 49
MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT = 50
MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT = 51
MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT = 52
MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT = 53
MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA = 54
MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA = 55
MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST = 56
MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST = 57
MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT = 58
MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT = 59
MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT = 60
MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST = 61
MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT = 62
MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST = 63
MAVLINK_MSG_ID_STATE_CORRECTION = 64
MAVLINK_MSG_ID_REQUEST_DATA_STREAM = 66
MAVLINK_MSG_ID_DATA_STREAM = 67
MAVLINK_MSG_ID_MANUAL_CONTROL = 69
MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE = 70
MAVLINK_MSG_ID_VFR_HUD = 74
MAVLINK_MSG_ID_COMMAND_LONG = 76
MAVLINK_MSG_ID_COMMAND_ACK = 77
MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT = 80
MAVLINK_MSG_ID_MANUAL_SETPOINT = 81
MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET = 89
MAVLINK_MSG_ID_HIL_STATE = 90
MAVLINK_MSG_ID_HIL_CONTROLS = 91
MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW = 92
MAVLINK_MSG_ID_OPTICAL_FLOW = 100
MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE = 101
MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE = 102
MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE = 103
MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE = 104
MAVLINK_MSG_ID_HIGHRES_IMU = 105
MAVLINK_MSG_ID_FILE_TRANSFER_START = 110
MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST = 111
MAVLINK_MSG_ID_FILE_TRANSFER_RES = 112
MAVLINK_MSG_ID_BATTERY_STATUS = 147
MAVLINK_MSG_ID_SETPOINT_8DOF = 148
MAVLINK_MSG_ID_SETPOINT_6DOF = 149
MAVLINK_MSG_ID_MEMORY_VECT = 249
MAVLINK_MSG_ID_DEBUG_VECT = 250
MAVLINK_MSG_ID_NAMED_VALUE_FLOAT = 251
MAVLINK_MSG_ID_NAMED_VALUE_INT = 252
MAVLINK_MSG_ID_STATUSTEXT = 253
MAVLINK_MSG_ID_DEBUG = 254
class MAVLink_heartbeat_message(MAVLink_message):
'''
The heartbeat message shows that a system is present and
responding. The type of the MAV and Autopilot hardware allow
the receiving system to treat further messages from this
system appropriate (e.g. by laying out the user interface
based on the autopilot).
'''
def __init__(self, type, autopilot, base_mode, custom_mode, system_status, mavlink_version):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_HEARTBEAT, 'HEARTBEAT')
self._fieldnames = ['type', 'autopilot', 'base_mode', 'custom_mode', 'system_status', 'mavlink_version']
self.type = type
self.autopilot = autopilot
self.base_mode = base_mode
self.custom_mode = custom_mode
self.system_status = system_status
self.mavlink_version = mavlink_version
def pack(self, mav):
return MAVLink_message.pack(self, mav, 50, struct.pack('<IBBBBB', self.custom_mode, self.type, self.autopilot, self.base_mode, self.system_status, self.mavlink_version))
class MAVLink_sys_status_message(MAVLink_message):
'''
The general system state. If the system is following the
MAVLink standard, the system state is mainly defined by three
orthogonal states/modes: The system mode, which is either
LOCKED (motors shut down and locked), MANUAL (system under RC
control), GUIDED (system with autonomous position control,
position setpoint controlled manually) or AUTO (system guided
by path/waypoint planner). The NAV_MODE defined the current
flight state: LIFTOFF (often an open-loop maneuver), LANDING,
WAYPOINTS or VECTOR. This represents the internal navigation
state machine. The system status shows wether the system is
currently active or not and if an emergency occured. During
the CRITICAL and EMERGENCY states the MAV is still considered
to be active, but should start emergency procedures
autonomously. After a failure occured it should first move
from active to critical to allow manual intervention and then
move to emergency after a certain timeout.
'''
def __init__(self, onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYS_STATUS, 'SYS_STATUS')
self._fieldnames = ['onboard_control_sensors_present', 'onboard_control_sensors_enabled', 'onboard_control_sensors_health', 'load', 'voltage_battery', 'current_battery', 'battery_remaining', 'drop_rate_comm', 'errors_comm', 'errors_count1', 'errors_count2', 'errors_count3', 'errors_count4']
self.onboard_control_sensors_present = onboard_control_sensors_present
self.onboard_control_sensors_enabled = onboard_control_sensors_enabled
self.onboard_control_sensors_health = onboard_control_sensors_health
self.load = load
self.voltage_battery = voltage_battery
self.current_battery = current_battery
self.battery_remaining = battery_remaining
self.drop_rate_comm = drop_rate_comm
self.errors_comm = errors_comm
self.errors_count1 = errors_count1
self.errors_count2 = errors_count2
self.errors_count3 = errors_count3
self.errors_count4 = errors_count4
def pack(self, mav):
return MAVLink_message.pack(self, mav, 124, struct.pack('<IIIHHhHHHHHHb', self.onboard_control_sensors_present, self.onboard_control_sensors_enabled, self.onboard_control_sensors_health, self.load, self.voltage_battery, self.current_battery, self.drop_rate_comm, self.errors_comm, self.errors_count1, self.errors_count2, self.errors_count3, self.errors_count4, self.battery_remaining))
class MAVLink_system_time_message(MAVLink_message):
'''
The system time is the time of the master clock, typically the
computer clock of the main onboard computer.
'''
def __init__(self, time_unix_usec, time_boot_ms):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYSTEM_TIME, 'SYSTEM_TIME')
self._fieldnames = ['time_unix_usec', 'time_boot_ms']
self.time_unix_usec = time_unix_usec
self.time_boot_ms = time_boot_ms
def pack(self, mav):
return MAVLink_message.pack(self, mav, 137, struct.pack('<QI', self.time_unix_usec, self.time_boot_ms))
class MAVLink_ping_message(MAVLink_message):
'''
A ping message either requesting or responding to a ping. This
allows to measure the system latencies, including serial port,
radio modem and UDP connections.
'''
def __init__(self, time_usec, seq, target_system, target_component):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_PING, 'PING')
self._fieldnames = ['time_usec', 'seq', 'target_system', 'target_component']
self.time_usec = time_usec
self.seq = seq
self.target_system = target_system
self.target_component = target_component
def pack(self, mav):
return MAVLink_message.pack(self, mav, 237, struct.pack('<QIBB', self.time_usec, self.seq, self.target_system, self.target_component))
class MAVLink_change_operator_control_message(MAVLink_message):
'''
Request to control this MAV
'''
def __init__(self, target_system, control_request, version, passkey):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, 'CHANGE_OPERATOR_CONTROL')
self._fieldnames = ['target_system', 'control_request', 'version', 'passkey']
self.target_system = target_system
self.control_request = control_request
self.version = version
self.passkey = passkey
def pack(self, mav):
return MAVLink_message.pack(self, mav, 217, struct.pack('<BBB25s', self.target_system, self.control_request, self.version, self.passkey))
class MAVLink_change_operator_control_ack_message(MAVLink_message):
'''
Accept / deny control of this MAV
'''
def __init__(self, gcs_system_id, control_request, ack):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, 'CHANGE_OPERATOR_CONTROL_ACK')
self._fieldnames = ['gcs_system_id', 'control_request', 'ack']
self.gcs_system_id = gcs_system_id
self.control_request = control_request
self.ack = ack
def pack(self, mav):
return MAVLink_message.pack(self, mav, 104, struct.pack('<BBB', self.gcs_system_id, self.control_request, self.ack))
class MAVLink_auth_key_message(MAVLink_message):
'''
Emit an encrypted signature / key identifying this system.
PLEASE NOTE: This protocol has been kept simple, so
transmitting the key requires an encrypted channel for true
safety.
'''
def __init__(self, key):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_AUTH_KEY, 'AUTH_KEY')
self._fieldnames = ['key']
self.key = key
def pack(self, mav):
return MAVLink_message.pack(self, mav, 119, struct.pack('<32s', self.key))
class MAVLink_set_mode_message(MAVLink_message):
'''
Set the system mode, as defined by enum MAV_MODE. There is no
target component id as the mode is by definition for the
overall aircraft, not only for one component.
'''
def __init__(self, target_system, base_mode, custom_mode):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_MODE, 'SET_MODE')
self._fieldnames = ['target_system', 'base_mode', 'custom_mode']
self.target_system = target_system
self.base_mode = base_mode
self.custom_mode = custom_mode
def pack(self, mav):
return MAVLink_message.pack(self, mav, 89, struct.pack('<IBB', self.custom_mode, self.target_system, self.base_mode))
class MAVLink_param_request_read_message(MAVLink_message):
'''
Request to read the onboard parameter with the param_id string
id. Onboard parameters are stored as key[const char*] ->
value[float]. This allows to send a parameter to any other
component (such as the GCS) without the need of previous
knowledge of possible parameter names. Thus the same GCS can
store different parameters for different autopilots. See also
http://qgroundcontrol.org/parameter_interface for a full
documentation of QGroundControl and IMU code.
'''
def __init__(self, target_system, target_component, param_id, param_index):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_REQUEST_READ, 'PARAM_REQUEST_READ')
self._fieldnames = ['target_system', 'target_component', 'param_id', 'param_index']
self.target_system = target_system
self.target_component = target_component
self.param_id = param_id
self.param_index = param_index
def pack(self, mav):
return MAVLink_message.pack(self, mav, 214, struct.pack('<hBB16s', self.param_index, self.target_system, self.target_component, self.param_id))
class MAVLink_param_request_list_message(MAVLink_message):
'''
Request all parameters of this component. After his request,
all parameters are emitted.
'''
def __init__(self, target_system, target_component):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, 'PARAM_REQUEST_LIST')
self._fieldnames = ['target_system', 'target_component']
self.target_system = target_system
self.target_component = target_component
def pack(self, mav):
return MAVLink_message.pack(self, mav, 159, struct.pack('<BB', self.target_system, self.target_component))
class MAVLink_param_value_message(MAVLink_message):
'''
Emit the value of a onboard parameter. The inclusion of
param_count and param_index in the message allows the
recipient to keep track of received parameters and allows him
to re-request missing parameters after a loss or timeout.
'''
def __init__(self, param_id, param_value, param_type, param_count, param_index):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_VALUE, 'PARAM_VALUE')
self._fieldnames = ['param_id', 'param_value', 'param_type', 'param_count', 'param_index']
self.param_id = param_id
self.param_value = param_value
self.param_type = param_type
self.param_count = param_count
self.param_index = param_index
def pack(self, mav):
return MAVLink_message.pack(self, mav, 220, struct.pack('<fHH16sB', self.param_value, self.param_count, self.param_index, self.param_id, self.param_type))
class MAVLink_param_set_message(MAVLink_message):
'''
Set a parameter value TEMPORARILY to RAM. It will be reset to
default on system reboot. Send the ACTION
MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM contents
to EEPROM. IMPORTANT: The receiving component should
acknowledge the new parameter value by sending a param_value
message to all communication partners. This will also ensure
that multiple GCS all have an up-to-date list of all
parameters. If the sending GCS did not receive a PARAM_VALUE
message within its timeout time, it should re-send the
PARAM_SET message.
'''
def __init__(self, target_system, target_component, param_id, param_value, param_type):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_SET, 'PARAM_SET')
self._fieldnames = ['target_system', 'target_component', 'param_id', 'param_value', 'param_type']
self.target_system = target_system
self.target_component = target_component
self.param_id = param_id
self.param_value = param_value
self.param_type = param_type
def pack(self, mav):
return MAVLink_message.pack(self, mav, 168, struct.pack('<fBB16sB', self.param_value, self.target_system, self.target_component, self.param_id, self.param_type))
class MAVLink_gps_raw_int_message(MAVLink_message):
'''
The global position, as returned by the Global Positioning
System (GPS). This is NOT the global position
estimate of the sytem, but rather a RAW sensor value. See
message GLOBAL_POSITION for the global position estimate.
Coordinate frame is right-handed, Z-axis up (GPS frame).
'''
def __init__(self, time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_RAW_INT, 'GPS_RAW_INT')
self._fieldnames = ['time_usec', 'fix_type', 'lat', 'lon', 'alt', 'eph', 'epv', 'vel', 'cog', 'satellites_visible']
self.time_usec = time_usec
self.fix_type = fix_type
self.lat = lat
self.lon = lon
self.alt = alt
self.eph = eph
self.epv = epv
self.vel = vel
self.cog = cog
self.satellites_visible = satellites_visible
def pack(self, mav):
return MAVLink_message.pack(self, mav, 24, struct.pack('<QiiiHHHHBB', self.time_usec, self.lat, self.lon, self.alt, self.eph, self.epv, self.vel, self.cog, self.fix_type, self.satellites_visible))
class MAVLink_gps_status_message(MAVLink_message):
'''
The positioning status, as reported by GPS. This message is
intended to display status information about each satellite
visible to the receiver. See message GLOBAL_POSITION for the
global position estimate. This message can contain information
for up to 20 satellites.
'''
def __init__(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_STATUS, 'GPS_STATUS')
self._fieldnames = ['satellites_visible', 'satellite_prn', 'satellite_used', 'satellite_elevation', 'satellite_azimuth', 'satellite_snr']
self.satellites_visible = satellites_visible
self.satellite_prn = satellite_prn
self.satellite_used = satellite_used
self.satellite_elevation = satellite_elevation
self.satellite_azimuth = satellite_azimuth
self.satellite_snr = satellite_snr
def pack(self, mav):
return MAVLink_message.pack(self, mav, 23, struct.pack('<B20s20s20s20s20s', self.satellites_visible, self.satellite_prn, self.satellite_used, self.satellite_elevation, self.satellite_azimuth, self.satellite_snr))
class MAVLink_scaled_imu_message(MAVLink_message):
'''
The RAW IMU readings for the usual 9DOF sensor setup. This
message should contain the scaled values to the described
units
'''
def __init__(self, time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SCALED_IMU, 'SCALED_IMU')
self._fieldnames = ['time_boot_ms', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag']
self.time_boot_ms = time_boot_ms
self.xacc = xacc
self.yacc = yacc
self.zacc = zacc
self.xgyro = xgyro
self.ygyro = ygyro
self.zgyro = zgyro
self.xmag = xmag
self.ymag = ymag
self.zmag = zmag
def pack(self, mav):
return MAVLink_message.pack(self, mav, 170, struct.pack('<Ihhhhhhhhh', self.time_boot_ms, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag))
class MAVLink_raw_imu_message(MAVLink_message):
'''
The RAW IMU readings for the usual 9DOF sensor setup. This
message should always contain the true raw values without any
scaling to allow data capture and system debugging.
'''
def __init__(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_RAW_IMU, 'RAW_IMU')
self._fieldnames = ['time_usec', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag']
self.time_usec = time_usec
self.xacc = xacc
self.yacc = yacc
self.zacc = zacc
self.xgyro = xgyro
self.ygyro = ygyro
self.zgyro = zgyro
self.xmag = xmag
self.ymag = ymag
self.zmag = zmag
def pack(self, mav):
return MAVLink_message.pack(self, mav, 144, struct.pack('<Qhhhhhhhhh', self.time_usec, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag))
class MAVLink_raw_pressure_message(MAVLink_message):
'''
The RAW pressure readings for the typical setup of one
absolute pressure and one differential pressure sensor. The
sensor values should be the raw, UNSCALED ADC values.
'''
def __init__(self, time_usec, press_abs, press_diff1, press_diff2, temperature):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_RAW_PRESSURE, 'RAW_PRESSURE')
self._fieldnames = ['time_usec', 'press_abs', 'press_diff1', 'press_diff2', 'temperature']
self.time_usec = time_usec
self.press_abs = press_abs
self.press_diff1 = press_diff1
self.press_diff2 = press_diff2
self.temperature = temperature
def pack(self, mav):
return MAVLink_message.pack(self, mav, 67, struct.pack('<Qhhhh', self.time_usec, self.press_abs, self.press_diff1, self.press_diff2, self.temperature))
class MAVLink_scaled_pressure_message(MAVLink_message):
'''
The pressure readings for the typical setup of one absolute
and differential pressure sensor. The units are as specified
in each field.
'''
def __init__(self, time_boot_ms, press_abs, press_diff, temperature):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_SCALED_PRESSURE, 'SCALED_PRESSURE')
self._fieldnames = ['time_boot_ms', 'press_abs', 'press_diff', 'temperature']
self.time_boot_ms = time_boot_ms
self.press_abs = press_abs
self.press_diff = press_diff
self.temperature = temperature
def pack(self, mav):
return MAVLink_message.pack(self, mav, 115, struct.pack('<Iffh', self.time_boot_ms, self.press_abs, self.press_diff, self.temperature))
class MAVLink_attitude_message(MAVLink_message):
'''
The attitude in the aeronautical frame (right-handed, Z-down,
X-front, Y-right).
'''
def __init__(self, time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_ATTITUDE, 'ATTITUDE')
self._fieldnames = ['time_boot_ms', 'roll', 'pitch', 'yaw', 'rollspeed', 'pitchspeed', 'yawspeed']
self.time_boot_ms = time_boot_ms
self.roll = roll
self.pitch = pitch
self.yaw = yaw
self.rollspeed = rollspeed
self.pitchspeed = pitchspeed
self.yawspeed = yawspeed
def pack(self, mav):
return MAVLink_message.pack(self, mav, 39, struct.pack('<Iffffff', self.time_boot_ms, self.roll, self.pitch, self.yaw, self.rollspeed, self.pitchspeed, self.yawspeed))
class MAVLink_attitude_quaternion_message(MAVLink_message):
'''
The attitude in the aeronautical frame (right-handed, Z-down,
X-front, Y-right), expressed as quaternion.
'''
def __init__(self, time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, 'ATTITUDE_QUATERNION')
self._fieldnames = ['time_boot_ms', 'q1', 'q2', 'q3', 'q4', 'rollspeed', 'pitchspeed', 'yawspeed']
self.time_boot_ms = time_boot_ms
self.q1 = q1
self.q2 = q2
self.q3 = q3
self.q4 = q4
self.rollspeed = rollspeed
self.pitchspeed = pitchspeed
self.yawspeed = yawspeed
def pack(self, mav):
return MAVLink_message.pack(self, mav, 246, struct.pack('<Ifffffff', self.time_boot_ms, self.q1, self.q2, self.q3, self.q4, self.rollspeed, self.pitchspeed, self.yawspeed))
class MAVLink_local_position_ned_message(MAVLink_message):
'''
The filtered local position (e.g. fused computer vision and
accelerometers). Coordinate frame is right-handed, Z-axis down
(aeronautical frame, NED / north-east-down convention)
'''
def __init__(self, time_boot_ms, x, y, z, vx, vy, vz):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_NED, 'LOCAL_POSITION_NED')
self._fieldnames = ['time_boot_ms', 'x', 'y', 'z', 'vx', 'vy', 'vz']
self.time_boot_ms = time_boot_ms
self.x = x
self.y = y
self.z = z
self.vx = vx
self.vy = vy
self.vz = vz
def pack(self, mav):
return MAVLink_message.pack(self, mav, 185, struct.pack('<Iffffff', self.time_boot_ms, self.x, self.y, self.z, self.vx, self.vy, self.vz))
class MAVLink_global_position_int_message(MAVLink_message):
'''
The filtered global position (e.g. fused GPS and
accelerometers). The position is in GPS-frame (right-handed,
Z-up). It is designed as scaled integer message
since the resolution of float is not sufficient.
'''
def __init__(self, time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, 'GLOBAL_POSITION_INT')
self._fieldnames = ['time_boot_ms', 'lat', 'lon', 'alt', 'relative_alt', 'vx', 'vy', 'vz', 'hdg']
self.time_boot_ms = time_boot_ms
self.lat = lat
self.lon = lon
self.alt = alt
self.relative_alt = relative_alt
self.vx = vx
self.vy = vy
self.vz = vz
self.hdg = hdg
def pack(self, mav):
return MAVLink_message.pack(self, mav, 104, struct.pack('<IiiiihhhH', self.time_boot_ms, self.lat, self.lon, self.alt, self.relative_alt, self.vx, self.vy, self.vz, self.hdg))
class MAVLink_rc_channels_scaled_message(MAVLink_message):
'''
The scaled values of the RC channels received. (-100%) -10000,
(0%) 0, (100%) 10000. Channels that are inactive should be set
to 65535.
'''
def __init__(self, time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, 'RC_CHANNELS_SCALED')
self._fieldnames = ['time_boot_ms', 'port', 'chan1_scaled', 'chan2_scaled', 'chan3_scaled', 'chan4_scaled', 'chan5_scaled', 'chan6_scaled', 'chan7_scaled', 'chan8_scaled', 'rssi']
self.time_boot_ms = time_boot_ms
self.port = port
self.chan1_scaled = chan1_scaled
self.chan2_scaled = chan2_scaled
self.chan3_scaled = chan3_scaled
self.chan4_scaled = chan4_scaled
self.chan5_scaled = chan5_scaled
self.chan6_scaled = chan6_scaled
self.chan7_scaled = chan7_scaled
self.chan8_scaled = chan8_scaled
self.rssi = rssi
def pack(self, mav):
return MAVLink_message.pack(self, mav, 237, struct.pack('<IhhhhhhhhBB', self.time_boot_ms, self.chan1_scaled, self.chan2_scaled, self.chan3_scaled, self.chan4_scaled, self.chan5_scaled, self.chan6_scaled, self.chan7_scaled, self.chan8_scaled, self.port, self.rssi))
class MAVLink_rc_channels_raw_message(MAVLink_message):
'''
The RAW values of the RC channels received. The standard PPM
modulation is as follows: 1000 microseconds: 0%, 2000
microseconds: 100%. Individual receivers/transmitters might
violate this specification.
'''
def __init__(self, time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_RAW, 'RC_CHANNELS_RAW')
self._fieldnames = ['time_boot_ms', 'port', 'chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw', 'rssi']
self.time_boot_ms = time_boot_ms
self.port = port
self.chan1_raw = chan1_raw
self.chan2_raw = chan2_raw
self.chan3_raw = chan3_raw
self.chan4_raw = chan4_raw
self.chan5_raw = chan5_raw