| 0,0 → 1,83 |
|---|
| <?xml version='1.0'?> |
| <mavlink> |
| <include>common.xml</include> |
| <enums> |
| <enum name="SENSESOAR_MODE"> |
| <description> Different flight modes </description> |
| <entry name="SENSESOAR_MODE_GLIDING"> Gliding mode with motors off</entry> |
| <entry name="SENSESOAR_MODE_AUTONOMOUS"> Autonomous flight</entry> |
| <entry name="SENSESOAR_MODE_MANUAL"> RC controlled</entry> |
| </enum> |
| </enums> |
| <messages> |
| <message id="170" name="OBS_POSITION"> |
| Position estimate of the observer in global frame |
| <field type="int32_t" name="lon">Longitude expressed in 1E7</field> |
| <field type="int32_t" name="lat">Latitude expressed in 1E7</field> |
| <field type="int32_t" name="alt">Altitude expressed in milimeters</field> |
| </message> |
| <message id="172" name="OBS_VELOCITY"> |
| velocity estimate of the observer in NED inertial frame |
| <field type="float[3]" name="vel">Velocity</field> |
| </message> |
| <message id="174" name="OBS_ATTITUDE"> |
| attitude estimate of the observer |
| <field type="double[4]" name="quat">Quaternion re;im</field> |
| </message> |
| <message id="176" name="OBS_WIND"> |
| Wind estimate in NED inertial frame |
| <field type="float[3]" name="wind">Wind</field> |
| </message> |
| <message id="178" name="OBS_AIR_VELOCITY"> |
| Estimate of the air velocity |
| <field type="float" name="magnitude">Air speed</field> |
| <field type="float" name="aoa">angle of attack</field> |
| <field type="float" name="slip">slip angle</field> |
| </message> |
| <message id="180" name="OBS_BIAS"> |
| IMU biases |
| <field type="float[3]" name="accBias">accelerometer bias</field> |
| <field type="float[3]" name="gyroBias">gyroscope bias</field> |
| </message> |
| <message id="182" name="OBS_QFF"> |
| estimate of the pressure at sea level |
| <field type="float" name="qff">Wind</field> |
| </message> |
| <message id="183" name="OBS_AIR_TEMP"> |
| ambient air temperature |
| <field type="float" name="airT">Air Temperatur</field> |
| </message> |
| <message id="184" name="FILT_ROT_VEL"> |
| filtered rotational velocity |
| <field type="float[3]" name="rotVel">rotational velocity</field> |
| </message> |
| <message id="186" name="LLC_OUT"> |
| low level control output |
| <field type="int16_t[4]" name="servoOut">Servo signal</field> |
| <field type="int16_t[2]" name="MotorOut">motor signal</field> |
| </message> |
| <message id="188" name="PM_ELEC"> |
| Power managment |
| <field type="float" name="PwCons">current power consumption</field> |
| <field type="float" name="BatStat">battery status</field> |
| <field type="float[3]" name="PwGen">Power generation from each module</field> |
| </message> |
| <message id="190" name="SYS_Stat"> |
| system status |
| <field type="uint8_t" name="gps">gps status</field> |
| <field type="uint8_t" name="act">actuator status</field> |
| <field type="uint8_t" name="mod">module status</field> |
| <field type="uint8_t" name="commRssi">module status</field> |
| </message> |
| <message id="192" name="CMD_AIRSPEED_CHNG"> |
| change commanded air speed |
| <field type="uint8_t" name="target">Target ID</field> |
| <field type="float" name="spCmd">commanded airspeed</field> |
| </message> |
| <message id="194" name="CMD_AIRSPEED_ACK"> |
| accept change of airspeed |
| <field type="float" name="spCmd">commanded airspeed</field> |
| <field type="uint8_t" name="ack">0:ack, 1:nack</field> |
| </message> |
| </messages> |
| </mavlink> |