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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | <?xml version='1.0'?> |
| 2 | <mavlink> |
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| 3 | <include>common.xml</include> |
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| 4 | <enums> |
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| 5 | <enum name="SENSESOAR_MODE"> |
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| 6 | <description> Different flight modes </description> |
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| 7 | <entry name="SENSESOAR_MODE_GLIDING"> Gliding mode with motors off</entry> |
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| 8 | <entry name="SENSESOAR_MODE_AUTONOMOUS"> Autonomous flight</entry> |
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| 9 | <entry name="SENSESOAR_MODE_MANUAL"> RC controlled</entry> |
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| 10 | </enum> |
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| 11 | </enums> |
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| 12 | <messages> |
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| 13 | <message id="170" name="OBS_POSITION"> |
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| 14 | Position estimate of the observer in global frame |
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| 15 | <field type="int32_t" name="lon">Longitude expressed in 1E7</field> |
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| 16 | <field type="int32_t" name="lat">Latitude expressed in 1E7</field> |
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| 17 | <field type="int32_t" name="alt">Altitude expressed in milimeters</field> |
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| 18 | </message> |
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| 19 | <message id="172" name="OBS_VELOCITY"> |
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| 20 | velocity estimate of the observer in NED inertial frame |
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| 21 | <field type="float[3]" name="vel">Velocity</field> |
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| 22 | </message> |
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| 23 | <message id="174" name="OBS_ATTITUDE"> |
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| 24 | attitude estimate of the observer |
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| 25 | <field type="double[4]" name="quat">Quaternion re;im</field> |
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| 26 | </message> |
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| 27 | <message id="176" name="OBS_WIND"> |
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| 28 | Wind estimate in NED inertial frame |
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| 29 | <field type="float[3]" name="wind">Wind</field> |
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| 30 | </message> |
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| 31 | <message id="178" name="OBS_AIR_VELOCITY"> |
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| 32 | Estimate of the air velocity |
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| 33 | <field type="float" name="magnitude">Air speed</field> |
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| 34 | <field type="float" name="aoa">angle of attack</field> |
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| 35 | <field type="float" name="slip">slip angle</field> |
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| 36 | </message> |
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| 37 | <message id="180" name="OBS_BIAS"> |
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| 38 | IMU biases |
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| 39 | <field type="float[3]" name="accBias">accelerometer bias</field> |
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| 40 | <field type="float[3]" name="gyroBias">gyroscope bias</field> |
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| 41 | </message> |
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| 42 | <message id="182" name="OBS_QFF"> |
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| 43 | estimate of the pressure at sea level |
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| 44 | <field type="float" name="qff">Wind</field> |
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| 45 | </message> |
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| 46 | <message id="183" name="OBS_AIR_TEMP"> |
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| 47 | ambient air temperature |
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| 48 | <field type="float" name="airT">Air Temperatur</field> |
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| 49 | </message> |
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| 50 | <message id="184" name="FILT_ROT_VEL"> |
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| 51 | filtered rotational velocity |
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| 52 | <field type="float[3]" name="rotVel">rotational velocity</field> |
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| 53 | </message> |
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| 54 | <message id="186" name="LLC_OUT"> |
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| 55 | low level control output |
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| 56 | <field type="int16_t[4]" name="servoOut">Servo signal</field> |
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| 57 | <field type="int16_t[2]" name="MotorOut">motor signal</field> |
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| 58 | </message> |
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| 59 | <message id="188" name="PM_ELEC"> |
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| 60 | Power managment |
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| 61 | <field type="float" name="PwCons">current power consumption</field> |
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| 62 | <field type="float" name="BatStat">battery status</field> |
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| 63 | <field type="float[3]" name="PwGen">Power generation from each module</field> |
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| 64 | </message> |
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| 65 | <message id="190" name="SYS_Stat"> |
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| 66 | system status |
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| 67 | <field type="uint8_t" name="gps">gps status</field> |
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| 68 | <field type="uint8_t" name="act">actuator status</field> |
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| 69 | <field type="uint8_t" name="mod">module status</field> |
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| 70 | <field type="uint8_t" name="commRssi">module status</field> |
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| 71 | </message> |
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| 72 | <message id="192" name="CMD_AIRSPEED_CHNG"> |
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| 73 | change commanded air speed |
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| 74 | <field type="uint8_t" name="target">Target ID</field> |
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| 75 | <field type="float" name="spCmd">commanded airspeed</field> |
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| 76 | </message> |
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| 77 | <message id="194" name="CMD_AIRSPEED_ACK"> |
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| 78 | accept change of airspeed |
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| 79 | <field type="float" name="spCmd">commanded airspeed</field> |
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| 80 | <field type="uint8_t" name="ack">0:ack, 1:nack</field> |
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| 81 | </message> |
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| 82 | </messages> |
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| 83 | </mavlink> |