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| Rev | Author | Line No. | Line |
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| 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="UALBERTA_AUTOPILOT_MODE"> |
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| 6 | <description>Available autopilot modes for ualberta uav</description> |
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| 7 | <entry name="MODE_MANUAL_DIRECT">Raw input pulse widts sent to output</entry> |
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| 8 | <entry name="MODE_MANUAL_SCALED">Inputs are normalized using calibration, the converted back to raw pulse widths for output</entry> |
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| 9 | <entry name="MODE_AUTO_PID_ATT"> dfsdfs</entry> |
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| 10 | <entry name="MODE_AUTO_PID_VEL"> dfsfds</entry> |
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| 11 | <entry name="MODE_AUTO_PID_POS"> dfsdfsdfs</entry> |
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| 12 | </enum> |
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| 13 | <enum name="UALBERTA_NAV_MODE"> |
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| 14 | <description>Navigation filter mode</description> |
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| 15 | <entry name="NAV_AHRS_INIT" /> |
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| 16 | <entry name="NAV_AHRS">AHRS mode</entry> |
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| 17 | <entry name="NAV_INS_GPS_INIT">INS/GPS initialization mode</entry> |
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| 18 | <entry name="NAV_INS_GPS">INS/GPS mode</entry> |
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| 19 | </enum> |
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| 20 | <enum name="UALBERTA_PILOT_MODE"> |
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| 21 | <description>Mode currently commanded by pilot</description> |
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| 22 | <entry name="PILOT_MANUAL"> sdf</entry> |
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| 23 | <entry name="PILOT_AUTO"> dfs</entry> |
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| 24 | <entry name="PILOT_ROTO"> Rotomotion mode </entry> |
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| 25 | </enum> |
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| 26 | </enums> |
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| 27 | <messages> |
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| 28 | <message id="220" name="NAV_FILTER_BIAS"> |
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| 29 | <description>Accelerometer and Gyro biases from the navigation filter</description> |
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| 30 | <field type="uint64_t" name="usec">Timestamp (microseconds)</field> |
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| 31 | <field type="float" name="accel_0">b_f[0]</field> |
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| 32 | <field type="float" name="accel_1">b_f[1]</field> |
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| 33 | <field type="float" name="accel_2">b_f[2]</field> |
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| 34 | <field type="float" name="gyro_0">b_f[0]</field> |
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| 35 | <field type="float" name="gyro_1">b_f[1]</field> |
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| 36 | <field type="float" name="gyro_2">b_f[2]</field> |
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| 37 | </message> |
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| 38 | <message id="221" name="RADIO_CALIBRATION"> |
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| 39 | <description>Complete set of calibration parameters for the radio</description> |
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| 40 | <field type="uint16_t[3]" name="aileron">Aileron setpoints: left, center, right</field> |
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| 41 | <field type="uint16_t[3]" name="elevator">Elevator setpoints: nose down, center, nose up</field> |
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| 42 | <field type="uint16_t[3]" name="rudder">Rudder setpoints: nose left, center, nose right</field> |
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| 43 | <field type="uint16_t[2]" name="gyro">Tail gyro mode/gain setpoints: heading hold, rate mode</field> |
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| 44 | <field type="uint16_t[5]" name="pitch">Pitch curve setpoints (every 25%)</field> |
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| 45 | <field type="uint16_t[5]" name="throttle">Throttle curve setpoints (every 25%)</field> |
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| 46 | </message> |
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| 47 | <message id="222" name="UALBERTA_SYS_STATUS"> |
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| 48 | <description>System status specific to ualberta uav</description> |
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| 49 | <field type="uint8_t" name="mode">System mode, see UALBERTA_AUTOPILOT_MODE ENUM</field> |
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| 50 | <field type="uint8_t" name="nav_mode">Navigation mode, see UALBERTA_NAV_MODE ENUM</field> |
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| 51 | <field type="uint8_t" name="pilot">Pilot mode, see UALBERTA_PILOT_MODE</field> |
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| 52 | </message> |
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| 53 | </messages> |
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| 54 | </mavlink> |