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Added PX4FLOW_RAD message and HEARTBEAT message
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@podhrmic
podhrmic committed Oct 24, 2016
1 parent ce6d27c commit 28180f3
Showing 1 changed file with 26 additions and 78 deletions.
104 changes: 26 additions & 78 deletions message_definitions/v1.0/messages.xml
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Expand Up @@ -2081,9 +2081,8 @@
<field name="value" type="uint16"/>
</message>

<!--233 is free -->
<message name="PX4FLOW" id="233">
<!--field name="time_usec" type="uint64"/--> <!-- uint64 not supported yet -->
<field name="time_sec" type="float" unit="s"/>
<field name="sensor_id" type="uint8"/>
<field name="flow_x" type="int16"/>
<field name="flow_y" type="int16"/>
Expand Down Expand Up @@ -2198,57 +2197,9 @@
<field name="errno" type="uint8"/>
</message>

<message name="NPS_ACCEL_LTP" id="248">
<field name="xdd" type="float" unit="m/s2"/>
<field name="ydd" type="float" unit="m/s2"/>
<field name="zdd" type="float" unit="m/s2"/>
</message>

<message name="LOOSE_INS_GPS" id="249">
<field name="status" type="uint8" values="UNINITIALIZED|STARTUP_TRANSIENTS|LOWPASSING|GPS_LOST|NOMINAL"/>
<field name="time_running" type="double" alt_unit="minutes" alt_unit_coef="0.016666666666667"/>
<field name="q0" type="double" />
<field name="q1" type="double" />
<field name="q2" type="double" />
<field name="q3" type="double" />
<field name="phi" type="double" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="theta" type="double" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="psi" type="double" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="north" type="double" unit="m" />
<field name="east" type="double" unit="m" />
<field name="down" type="double" unit="m" />
<field name="v_north" type="double" unit="m/s"/>
<field name="v_east" type="double" unit="m/s"/>
<field name="v_down" type="double" unit="m/s"/>
<field name="est_p" type="double" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="est_q" type="double" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="est_r" type="double" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="gyroBias_x" type="double" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="gyroBias_y" type="double" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="gyroBias_z" type="double" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="imuCallbacks" type="uint32" />
<field name="gpsCallbacks" type="uint32" />
<field name="baroCallbacks" type="uint32" />
<!-- <field name="mahrs_gbx" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="mahrs_gby" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="mahrs_gbz" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="alpha" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3" />
<field name="beta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3" />
<field name="airspeed" type="float" unit="m/s" />
<field name="barometer" type="float" unit="Pa" /> -->
</message>

<message name="AFL_COEFFS" id="250">
<field name="roll_a" type="float"/>
<field name="roll_b" type="float"/>
<field name="roll_c" type="float"/>
<field name="pitch_a" type="float"/>
<field name="pitch_b" type="float"/>
<field name="pitch_c" type="float"/>
<field name="yaw_a" type="float"/>
<field name="yaw_b" type="float"/>
<field name="yaw_c" type="float"/>
</message>
<!-- 248 is free -->
<!-- 249 is free -->
<!-- 250 is free -->

<message name="GPS_RTK" id="251">
<field name="iTOW" type="uint32" unit="ms"/>
Expand All @@ -2267,7 +2218,6 @@
<field name="diffSoln" type="uint8" values="NONE|DGPS"/>
<field name="gnssFixOK" type="uint8" values="NONE|3D"/>
</message>


<message name="GPS_SMALL" id="252">
<field name="multiplex_speed" type="uint32">bits 31-21 course in decideg : bits 20-10 ground speed in cm/s : bits 9-0 climb speed in cm/s</field>
Expand All @@ -2291,32 +2241,30 @@
<field name="bus_number" type="uint8"/>
</message>

<message name="RDYB_TRAJECTORY" id="254">
<field name="commanded_phi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="commanded_theta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="commanded_psi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="setpoint_x" type="float" unit="m N"/>
<field name="setpoint_y" type="float" unit="m E"/>
<field name="setpoint_z" type="float" unit="m D"/>
</message>

<message name="HENRY_GNSS" id="255">
<field name="last_imu_update" type="uint32"/>
<field name="GPS_time" type="double"/>
<field name="GPS_solution_valid" type="uint8"/>
<field name="latitude" type="double" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="longitude" type="double" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="altitude" type="double" />
<field name="North" type="double" />
<field name="East" type="double" />
<field name="Down" type="double" />
<field name="SVs_Tracked" type="uint8" />
<field name="SVs_PVT" type="uint8" />
<field name="V_North" type="double"/>
<field name="V_East" type="double"/>
<field name="V_Down" type="double"/>
<message name="HEARTBEAT" id="254">
<field name="type" type="uint8"/>
<field name="autopilot" type="uint8"/>
<field name="base_mode" type="uint8"/>
<field name="custom_mode" type="uint32"/>
<field name="system_status" type="uint8"/>
<field name="mavlink_version" type="uint8"/>
</message>

<message name="PX4FLOW_RAD" id="255">
<field name="time_sec" type="float" unit="s"/>
<field name="sensor_id" type="uint8"/>
<field name="int_time_us" type="uint32" alt_unit="s" alt_unit_coef="0.000001"/>
<field name="int_x" type="float" unit="rad" alt_unit="deg"/>
<field name="int_y" type="float" unit="rad" alt_unit="deg"/>
<field name="int_xgyro" type="float" unit="rad" alt_unit="deg"/>
<field name="int_ygyro" type="float" unit="rad" alt_unit="deg"/>
<field name="int_zgyro" type="float" unit="rad" alt_unit="deg"/>
<field name="temp" type="int16" alt_unit="C" alt_unit_coef="0.01"/>
<field name="quality" type="uint8"/>
<field name="d_time_us" type="uint32" alt_unit="s" alt_unit_coef="0.000001"/>
<field name="distance" type="float" unit="m"/>
</message>

</msg_class>


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