Add radius to DO_REPOSITION

mavlink · Mar 28, 2022 · f33ab88 · f33ab88
1 parent 20626df
commit f33ab88
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
@@ -1449,8 +1449,8 @@
         <description>Reposition the vehicle to a specific WGS84 global position.</description>
         <param index="1" label="Speed" units="m/s" minValue="-1">Ground speed, less than 0 (-1) for default</param>
         <param index="2" label="Bitmask" enum="MAV_DO_REPOSITION_FLAGS">Bitmask of option flags.</param>
-        <param index="3">Reserved</param>
-        <param index="4" label="Yaw" units="deg">Yaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)</param>
+        <param index="3" label="Radius" units="m">Loiter radius. Positive values for clockwise, negative for counter-clockwise. A value of zero or NaN means no change in radius. This value is ignored unless Bitmask bit MAV_DO_REPOSITION_FLAGS_USE_RADIUS is set.</param>
+        <param index="4" label="Yaw" units="deg">Yaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise). Bitmask bit MAV_DO_REPOSITION_FLAGS_USE_RADIUS is available for better radius control.</param>
         <param index="5" label="Latitude">Latitude</param>
         <param index="6" label="Longitude">Longitude</param>
         <param index="7" label="Altitude" units="m">Altitude</param>
@@ -3336,6 +3336,9 @@
       <entry value="1" name="MAV_DO_REPOSITION_FLAGS_CHANGE_MODE">
         <description>The aircraft should immediately transition into guided. This should not be set for follow me applications</description>
       </entry>
+      <entry value="2" name="MAV_DO_REPOSITION_FLAGS_USE_RADIUS">
+        <description>Enables the Radius field to control loiter radius and loiter direction. For planes this will override the Yaw field</description>
+      </entry>
     </enum>
     <!-- ESTIMATOR_STATUS_FLAGS - these values should be bit-and with the messages flags field to know if flag has been set -->
     <enum name="ESTIMATOR_STATUS_FLAGS" bitmask="true">