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MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION - improve linking to command #1774

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merged 4 commits into from
Feb 22, 2022
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MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION - improve linking to command #1774

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8771360
MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION - improve linking to command
hamishwillee Jan 6, 2022
4a62b25
clarify there are two ways to test termination is supported
hamishwillee Feb 10, 2022
9b09287
Confirm fail cases
hamishwillee Feb 10, 2022
80638ba
Update definition of termination.
hamishwillee Feb 16, 2022
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13 changes: 10 additions & 3 deletions message_definitions/v1.0/common.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -1379,8 +1379,15 @@
<param index="7">Empty</param>
</entry>
<entry value="185" name="MAV_CMD_DO_FLIGHTTERMINATION" hasLocation="false" isDestination="false">
<description>Terminate flight immediately</description>
<param index="1" label="Terminate" minValue="0" maxValue="1" increment="1">Flight termination activated if &gt; 0.5</param>
<description>Terminate flight immediately.
Flight termination immediately and irreversably terminates the current flight, returning the vehicle to ground.
The vehicle will ignore RC or other input until it has been power-cycled.
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Termination may trigger safety measures, including: disabling motors and deployment of parachute on multicopters, and setting flight surfaces to initiate a landing pattern on fixed-wing).
On multicopters without a parachute it may trigger a crash landing.
Support for this command can be tested using the protocol bit: MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION.
Support for this command can also be tested by sending the command with param1=0 (&lt; 0.5); the ACK should be either MAV_RESULT_FAILED or MAV_RESULT_UNSUPPORTED.
</description>
<param index="1" label="Terminate" minValue="0" maxValue="1" increment="1">Flight termination activated if &gt; 0.5. Otherwise not activated and ACK with MAV_RESULT_FAILED.</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
Expand Down Expand Up @@ -2982,7 +2989,7 @@
<description>Autopilot supports direct actuator control.</description>
</entry>
<entry value="2048" name="MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION">
<description>Autopilot supports the flight termination command.</description>
<description>Autopilot supports the MAV_CMD_DO_FLIGHTTERMINATION command (flight termination).</description>
</entry>
<entry value="4096" name="MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION">
<description>Autopilot supports onboard compass calibration.</description>
Expand Down