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Add additional support for parachute #2063

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Add additional support for parachute #2063

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9ca8535
Add additional support for parachutes
amy-chen-skydio Sep 27, 2023
dd0a097
Update common.xml
amy-chen-skydio Nov 30, 2023
e0528d1
Update common.xml
amy-chen-skydio Nov 30, 2023
fed7c95
Update common.xml
amy-chen-skydio Jan 10, 2024
4b1a880
Update common.xml
amy-chen-skydio Feb 8, 2024
f59f2b5
Update common.xml
amy-chen-skydio May 15, 2024
bb2e838
Update message_definitions/v1.0/common.xml
amy-chen-skydio May 22, 2024
d1f8af8
Update common.xml
amy-chen-skydio May 29, 2024
62f5a5a
Update message_definitions/v1.0/common.xml
amy-chen-skydio Jun 5, 2024
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144 changes: 144 additions & 0 deletions message_definitions/v1.0/common.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -1873,6 +1873,11 @@
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="225" name="MAV_CMD_SET_PARACHUTE_ARM" hasLocation="false" isDestination="false">
<description>Command to arm/disarm parachute module trigger sources.</description>
<param index="1" label="Arm Flags" enum="PARACHUTE_TRIGGER_FLAGS">Arm flags of parachute trigger sources</param>
<param index="2" label="Bitmask" enum="PARACHUTE_TRIGGER_FLAGS">Bitmask of arm flags (in param1) that should be modified</param>
</entry>
<entry value="240" name="MAV_CMD_DO_LAST" hasLocation="false" isDestination="false">
<description>NOP - This command is only used to mark the upper limit of the DO commands in the enumeration</description>
<param index="1">Empty</param>
Expand Down Expand Up @@ -5102,6 +5107,135 @@
<description>Illuminator thermistor failure.</description>
</entry>
</enum>
<enum name="PARACHUTE_TRIGGER_FLAGS" bitmask="true">
<description>Parachute trigger sources.</description>
<entry value="1" name="PARACHUTE_TRIGGER_FLAGS_MANUAL">
<description>Manual trigger (ground based control via parachute-specific RF channel)</description>
</entry>
<entry value="2" name="PARACHUTE_TRIGGER_FLAGS_ATS">
<description>Automatic trigger system (ATS)</description>
</entry>
<entry value="4" name="PARACHUTE_TRIGGER_FLAGS_FC">
<description>Flight controller trigger (e.g. MAVLink from FC, PWM, DroneCan, RC Control)</description>
</entry>
<entry value="8" name="PARACHUTE_TRIGGER_FLAGS_OFFBOARD">
<description>Offboard computer trigger (via MAVLink)</description>
</entry>
<entry value="16" name="PARACHUTE_TRIGGER_FLAGS_GEOFENCE">
<description>Geofence trigger (by parachute). Parachute uses MAVLink mission protocol to fetch geofence.</description>
</entry>
<entry value="32" name="PARACHUTE_TRIGGER_FLAGS_FTS_PRECHECKING">
<description>FTS (flight termination system) pre-checking protocol trigger</description>
</entry>
<entry value="64" name="PARACHUTE_TRIGGER_FLAGS_ATS_AUTO_ARM">
<description>Auto-arming of parachute automatic trigger system (ATS). This allows a parachute to enable ATS after detecting that it has reached a desired altitude.</description>
</entry>
<entry value="128" name="PARACHUTE_TRIGGER_FLAGS_ATS_AUTO_DISARM">
<description>Auto-disarming of parachute automatic trigger system (ATS). This allows a parachute to disable ATS after detecting that it is below a desired altitude.</description>
</entry>
</enum>
<enum name="PARACHUTE_DEPLOYMENT_TRIGGER">
<description>Parachute deployment trigger source</description>
<entry value="0" name="PARACHUTE_DEPLOYMENT_TRIGGER_NONE">
<description>None (parachute has not deployed)</description>
</entry>
<entry value="1" name="PARACHUTE_DEPLOYMENT_TRIGGER_MANUAL">
<description>Manual</description>
</entry>
<entry value="2" name="PARACHUTE_DEPLOYMENT_TRIGGER_ATS">
<description>Automatic trigger system (ATS)</description>
</entry>
<entry value="3" name="PARACHUTE_DEPLOYMENT_TRIGGER_DRONE">
<description>Drone</description>
</entry>
<entry value="4" name="PARACHUTE_DEPLOYMENT_TRIGGER_MAVLINK">
<description>MAVLink, e.g. from an offboard computer</description>
</entry>
<entry value="5" name="PARACHUTE_DEPLOYMENT_TRIGGER_GEOFENCE">
<description>Geofence</description>
</entry>
<entry value="6" name="PARACHUTE_DEPLOYMENT_TRIGGER_FTS_PRECHECKING">
<description>Flight Termination System (FTS) pre-checking protocol</description>
</entry>
</enum>
<enum name="PARACHUTE_SAFETY_FLAGS" bitmask="true">
<description>Parachute module safety-related flags.</description>
<entry value="1" name="PARACHUTE_SAFETY_FLAGS_GROUND_CLEARED">
<description>This is used to indicate that the parachute module has cleared a safe distance from the ground for deployment.</description>
</entry>
<entry value="2" name="PARACHUTE_SAFETY_FLAGS_ON_GROUND">
<description>This is used to indicate that the parachute's own sensor has confirmed it is stably on the ground.</description>
</entry>
<entry value="4" name="PARACHUTE_SAFETY_FLAGS_GEOFENCE_MISSION_SET">
<description>This is used to indicate that the parachute module has downloaded geofence mission successfully and can be triggered by geofence source.</description>
</entry>
</enum>
<enum name="PARACHUTE_ERROR_FLAGS" bitmask="true">
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<description>Parachute module error flags (bitmap, 0 means no error)</description>
<entry value="1" name="PARACHUTE_ERROR_FLAGS_BAROMETER_ERROR">
<description>There is an error with the parachute barometer</description>
</entry>
<entry value="2" name="PARACHUTE_ERROR_FLAGS_IMU_ERROR">
<description>There is an error with the parachute IMU</description>
</entry>
<entry value="4" name="PARACHUTE_ERROR_FLAGS_RF_CONNECTION_ERROR">
<description>There is an error with the parachute's RF that is used for manual control</description>
</entry>
<entry value="8" name="PARACHUTE_ERROR_FLAGS_LOW_POWER">
<description>Parachute module has low power</description>
</entry>
<entry value="16" name="PARACHUTE_ERROR_FLAGS_FC_CONNECTION_ERROR">
<description>There is an error with the connection between parachute and flight controller (FC)</description>
</entry>
<entry value="32" name="PARACHUTE_ERROR_FLAGS_EFTS_CONNECTION_ERROR">
<description>There is an error with the connection between parachute and Electrical Flight Termination System (EFTS)</description>
</entry>
<entry value="64" name="PARACHUTE_ERROR_FLAGS_POD_CONNECTION_ERROR">
<description>There is an error with the parachute pod</description>
</entry>
<entry value="128" name="PARACHUTE_ERROR_FLAGS_EFTS_DIAGNOSE">
<description>Parachute Electrical Flight Termination System (EFTS) diagnosis failed</description>
</entry>
<entry value="256" name="PARACHUTE_ERROR_FLAGS_CHARGING_FAILED">
<description>Parachute module charging failed</description>
</entry>
<entry value="512" name="PARACHUTE_ERROR_FLAGS_EXTERNAL_POWER_ERROR">
<description>There is an error with the parachute external power source</description>
</entry>
<entry value="1024" name="PARACHUTE_ERROR_FLAGS_GS_CONNECTION_ERROR">
<description>There is an error with the connection between parachute and Ground Station (GS)</description>
</entry>
<entry value="2048" name="PARACHUTE_ERROR_FLAGS_GPS_ERROR">
<description>There is an error with the parachute's GPS</description>
</entry>
<entry value="4096" name="PARACHUTE_ERROR_FLAGS_SUBSYSTEM_CONNECTION_ERROR">
<description>There is an error with the connection between parachute and subsystem (e.g. remote controller, expansion board, etc.)</description>
</entry>
<entry value="8192" name="PARACHUTE_ERROR_FLAGS_SUBSYSTEM_FW_ERROR">
<description>There is an error with the parachute subsystem firmware (e.g. wrong firmware version)</description>
</entry>
<entry value="16384" name="PARACHUTE_ERROR_FLAGS_RESERVED_1">
<description>Reserved for future use</description>
</entry>
<entry value="32768" name="PARACHUTE_ERROR_FLAGS_RESERVED_2">
<description>Reserved for future use</description>
</entry>
<entry value="65536" name="PARACHUTE_ERROR_FLAGS_LOGGING_ERROR">
<description>There is an error with the parachute's internal logging system</description>
</entry>
<entry value="131072" name="PARACHUTE_ERROR_FLAGS_MODULE_RETIRED">
<description>This parachute module is retired (i.e. too many deployments)</description>
</entry>
<entry value="262144" name="PARACHUTE_ERROR_FLAGS_GLOW_WIRE_ERROR">
<description>There is an error with the parachute glow wire</description>
</entry>
<entry value="524288" name="PARACHUTE_ERROR_FLAGS_OFFBOARD_CONNECTION_ERROR">
<description>There is an error with the MAVLink connection between parachute and offboard computer</description>
</entry>
<entry value="1048576" name="PARACHUTE_ERROR_FLAGS_IMU_CALIBRATION_ERROR">
<description>Parachute's internal IMU calibration failed</description>
</entry>
</enum>
</enums>
<messages>
<message id="1" name="SYS_STATUS">
Expand Down Expand Up @@ -7671,6 +7805,16 @@
<field type="uint16_t" name="sequence_oldest_available">Oldest Sequence number that is still available after the sequence set in REQUEST_EVENT.</field>
<field type="uint8_t" name="reason" enum="MAV_EVENT_ERROR_REASON">Error reason.</field>
</message>
<message id="430" name="PARACHUTE_STATUS">
<description>Parachute system status</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Uptime in ms</field>
<field type="uint32_t" name="error_status" enum="PARACHUTE_ERROR_FLAGS" display="bitmask">Errors</field>
<field type="uint8_t" name="arm_status" enum="PARACHUTE_TRIGGER_FLAGS" display="bitmask">Parachute arming status</field>
<field type="uint8_t" name="deployment_status" enum="PARACHUTE_DEPLOYMENT_TRIGGER">Parachute deployment status</field>
<field type="uint8_t" name="safety_status" enum="PARACHUTE_SAFETY_FLAGS" display="bitmask">Parachute safety status</field>
<field type="uint8_t" name="ats_arm_altitude" units="m">Parachute Automatic Trigger System (ATS) auto-arming/disarming altitude in meters</field>
<field type="char[11]" name="parachute_packed_date">Parachute packed date (YYYY-MM-DD) in ASCII characters, 0 terminated. All 0: field not provided.</field>
</message>
<message id="440" name="ILLUMINATOR_STATUS">
<description>Illuminator status</description>
<field type="uint32_t" name="uptime_ms" units="ms">Time since the start-up of the illuminator in ms</field>
Expand Down