| 0,0 → 1,144 |
|---|
| <?xml version="1.0"?> |
| <mavlink> |
| <include>common.xml</include> |
| |
| <!-- <enums> |
| <enum name="SLUGS_ACTION" > |
| <description> Slugs Actions </description> |
| <entry name = "SLUGS_ACTION_NONE"> |
| <entry name = "SLUGS_ACTION_SUCCESS"> |
| <entry name = "SLUGS_ACTION_FAIL"> |
| <entry name = "SLUGS_ACTION_EEPROM"> |
| <entry name = "SLUGS_ACTION_MODE_CHANGE"> |
| <entry name = "SLUGS_ACTION_MODE_REPORT"> |
| <entry name = "SLUGS_ACTION_PT_CHANGE"> |
| <entry name = "SLUGS_ACTION_PT_REPORT"> |
| <entry name = "SLUGS_ACTION_PID_CHANGE"> |
| <entry name = "SLUGS_ACTION_PID_REPORT"> |
| <entry name = "SLUGS_ACTION_WP_CHANGE"> |
| <entry name = "SLUGS_ACTION_WP_REPORT"> |
| <entry name = "SLUGS_ACTION_MLC_CHANGE"> |
| <entry name = "SLUGS_ACTION_MLC_REPORT"> |
| </enum> |
| |
| <enum name="WP_PROTOCOL_STATE" > |
| <description> Waypoint Protocol States </description> |
| <entry name = "WP_PROT_IDLE"> |
| <entry name = "WP_PROT_LIST_REQUESTED"> |
| <entry name = "WP_PROT_NUM_SENT"> |
| <entry name = "WP_PROT_TX_WP"> |
| <entry name = "WP_PROT_RX_WP"> |
| <entry name = "WP_PROT_SENDING_WP_IDLE"> |
| <entry name = "WP_PROT_GETTING_WP_IDLE"> |
| </enum> |
| |
| </enums> --> |
| |
| <messages> |
| |
| <message name="CPU_LOAD" id="170"> |
| Sensor and DSC control loads. |
| <field name="sensLoad" type="uint8_t">Sensor DSC Load</field> |
| <field name="ctrlLoad" type="uint8_t">Control DSC Load</field> |
| <field name="batVolt" type="uint16_t">Battery Voltage in millivolts</field> |
| </message> |
| |
| <message name="AIR_DATA" id="171"> |
| Air data for altitude and airspeed computation. |
| <field name="dynamicPressure" type="float">Dynamic pressure (Pa)</field> |
| <field name="staticPressure" type="float">Static pressure (Pa)</field> |
| <field name="temperature" type="uint16_t">Board temperature</field> |
| </message> |
| |
| <message name="SENSOR_BIAS" id="172"> |
| Accelerometer and gyro biases. |
| <field name="axBias" type="float">Accelerometer X bias (m/s)</field> |
| <field name="ayBias" type="float">Accelerometer Y bias (m/s)</field> |
| <field name="azBias" type="float">Accelerometer Z bias (m/s)</field> |
| <field name="gxBias" type="float">Gyro X bias (rad/s)</field> |
| <field name="gyBias" type="float">Gyro Y bias (rad/s)</field> |
| <field name="gzBias" type="float">Gyro Z bias (rad/s)</field> |
| </message> |
| |
| <message name="DIAGNOSTIC" id="173"> |
| Configurable diagnostic messages. |
| <field name="diagFl1" type="float">Diagnostic float 1</field> |
| <field name="diagFl2" type="float">Diagnostic float 2</field> |
| <field name="diagFl3" type="float">Diagnostic float 3</field> |
| <field name="diagSh1" type="int16_t">Diagnostic short 1</field> |
| <field name="diagSh2" type="int16_t">Diagnostic short 2</field> |
| <field name="diagSh3" type="int16_t">Diagnostic short 3</field> |
| </message> |
| |
| <message name="SLUGS_NAVIGATION" id="176"> |
| Data used in the navigation algorithm. |
| <field name="u_m" type="float">Measured Airspeed prior to the Nav Filter</field> |
| <field name="phi_c" type="float">Commanded Roll</field> |
| <field name="theta_c" type="float">Commanded Pitch</field> |
| <field name="psiDot_c" type="float">Commanded Turn rate</field> |
| <field name="ay_body" type="float">Y component of the body acceleration</field> |
| <field name="totalDist" type="float">Total Distance to Run on this leg of Navigation</field> |
| <field name="dist2Go" type="float">Remaining distance to Run on this leg of Navigation</field> |
| <field name="fromWP" type="uint8_t">Origin WP</field> |
| <field name="toWP" type="uint8_t">Destination WP</field> |
| </message> |
| |
| <message name="DATA_LOG" id="177"> |
| Configurable data log probes to be used inside Simulink |
| <field name="fl_1" type="float">Log value 1 </field> |
| <field name="fl_2" type="float">Log value 2 </field> |
| <field name="fl_3" type="float">Log value 3 </field> |
| <field name="fl_4" type="float">Log value 4 </field> |
| <field name="fl_5" type="float">Log value 5 </field> |
| <field name="fl_6" type="float">Log value 6 </field> |
| </message> |
| |
| <message name="GPS_DATE_TIME" id="179"> |
| Pilot console PWM messges. |
| <field name="year" type="uint8_t">Year reported by Gps </field> |
| <field name="month" type="uint8_t">Month reported by Gps </field> |
| <field name="day" type="uint8_t">Day reported by Gps </field> |
| <field name="hour" type="uint8_t">Hour reported by Gps </field> |
| <field name="min" type="uint8_t">Min reported by Gps </field> |
| <field name="sec" type="uint8_t">Sec reported by Gps </field> |
| <field name="visSat" type="uint8_t">Visible sattelites reported by Gps </field> |
| </message> |
| |
| <message name="MID_LVL_CMDS" id="180"> |
| Mid Level commands sent from the GS to the autopilot. These are only sent when being opperated in mid-level commands mode from the ground; for periodic report of these commands generated from the autopilot see message XXXX. |
| <field name="target" type="uint8_t">The system setting the commands</field> |
| <field name="hCommand" type="float">Commanded Airspeed</field> |
| <field name="uCommand" type="float">Log value 2 </field> |
| <field name="rCommand" type="float">Log value 3 </field> |
| </message> |
| |
| |
| <message name="CTRL_SRFC_PT" id="181"> |
| This message configures the Selective Passthrough mode. it allows to select which control surfaces the Pilot can control from his console. It is implemented as a bitfield as follows: |
| Position Bit Code |
| ================================= |
| 15-8 Reserved |
| 7 dt_pass 128 |
| 6 dla_pass 64 |
| 5 dra_pass 32 |
| 4 dr_pass 16 |
| 3 dle_pass 8 |
| 2 dre_pass 4 |
| 1 dlf_pass 2 |
| 0 drf_pass 1 |
| Where Bit 15 is the MSb. 0 = AP has control of the surface; 1 = Pilot Console has control of the surface. |
| <field name="target" type="uint8_t">The system setting the commands</field> |
| <field name="bitfieldPt" type="uint16_t">Bitfield containing the PT configuration</field> |
| </message> |
| |
| |
| |
| <message name="SLUGS_ACTION" id="183"> |
| Action messages focused on the SLUGS AP. |
| <field name="target" type="uint8_t">The system reporting the action</field> |
| <field name="actionId" type="uint8_t">Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names</field> |
| <field name="actionVal" type="uint16_t">Value associated with the action</field> |
| </message> |
| |
| </messages> |
| </mavlink> |