mavlink
Version:
Encode and decode MAVLink messages
55 lines (54 loc) • 3.48 kB
text/xml
<mavlink>
<include>common.xml</include>
<enums>
<enum name="UALBERTA_AUTOPILOT_MODE">
<description>Available autopilot modes for ualberta uav</description>
<entry name="MODE_MANUAL_DIRECT"><description>Raw input pulse widts sent to output</description></entry>
<entry name="MODE_MANUAL_SCALED"><description>Inputs are normalized using calibration, the converted back to raw pulse widths for output</description></entry>
<entry name="MODE_AUTO_PID_ATT"><description> dfsdfs</description></entry>
<entry name="MODE_AUTO_PID_VEL"><description> dfsfds</description></entry>
<entry name="MODE_AUTO_PID_POS"><description> dfsdfsdfs</description></entry>
</enum>
<enum name="UALBERTA_NAV_MODE">
<description>Navigation filter mode</description>
<entry name="NAV_AHRS_INIT" />
<entry name="NAV_AHRS"><description>AHRS mode</description></entry>
<entry name="NAV_INS_GPS_INIT"><description>INS/GPS initialization mode</description></entry>
<entry name="NAV_INS_GPS"><description>INS/GPS mode</description></entry>
</enum>
<enum name="UALBERTA_PILOT_MODE">
<description>Mode currently commanded by pilot</description>
<entry name="PILOT_MANUAL"><description> sdf</description></entry>
<entry name="PILOT_AUTO"><description> dfs</description></entry>
<entry name="PILOT_ROTO"><description> Rotomotion mode </description></entry>
</enum>
</enums>
<messages>
<message id="220" name="NAV_FILTER_BIAS">
<description>Accelerometer and Gyro biases from the navigation filter</description>
<field type="uint64_t" name="usec">Timestamp (microseconds)</field>
<field type="float" name="accel_0">b_f[0]</field>
<field type="float" name="accel_1">b_f[1]</field>
<field type="float" name="accel_2">b_f[2]</field>
<field type="float" name="gyro_0">b_f[0]</field>
<field type="float" name="gyro_1">b_f[1]</field>
<field type="float" name="gyro_2">b_f[2]</field>
</message>
<message id="221" name="RADIO_CALIBRATION">
<description>Complete set of calibration parameters for the radio</description>
<field type="uint16_t[3]" name="aileron">Aileron setpoints: left, center, right</field>
<field type="uint16_t[3]" name="elevator">Elevator setpoints: nose down, center, nose up</field>
<field type="uint16_t[3]" name="rudder">Rudder setpoints: nose left, center, nose right</field>
<field type="uint16_t[2]" name="gyro">Tail gyro mode/gain setpoints: heading hold, rate mode</field>
<field type="uint16_t[5]" name="pitch">Pitch curve setpoints (every 25%)</field>
<field type="uint16_t[5]" name="throttle">Throttle curve setpoints (every 25%)</field>
</message>
<message id="222" name="UALBERTA_SYS_STATUS">
<description>System status specific to ualberta uav</description>
<field type="uint8_t" name="mode">System mode, see UALBERTA_AUTOPILOT_MODE ENUM</field>
<field type="uint8_t" name="nav_mode">Navigation mode, see UALBERTA_NAV_MODE ENUM</field>
<field type="uint8_t" name="pilot">Pilot mode, see UALBERTA_PILOT_MODE</field>
</message>
</messages>
</mavlink>