source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/mavlink_generated_messages/common/common.h@ 46

Last change on this file since 46 was 46, checked in by Thomas Fuhrmann, 8 years ago

Add the mavlink branch
File size: 80.9 KB
Line 
1/** @file
2 * @brief MAVLink comm protocol generated from common.xml
3 * @see http://mavlink.org
4 */
5#ifndef MAVLINK_COMMON_H
6#define MAVLINK_COMMON_H
7
8#ifndef MAVLINK_H
9 #error Wrong include order: MAVLINK_COMMON.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call.
10#endif
11
12#ifdef __cplusplus
13extern "C" {
14#endif
15
16// MESSAGE LENGTHS AND CRCS
17
18#ifndef MAVLINK_MESSAGE_LENGTHS
19#define MAVLINK_MESSAGE_LENGTHS {}
20#endif
21
22#ifndef MAVLINK_MESSAGE_CRCS
23#define MAVLINK_MESSAGE_CRCS {{0, 50, 9, 0, 0, 0}, {1, 124, 31, 0, 0, 0}, {2, 137, 12, 0, 0, 0}, {4, 237, 14, 3, 12, 13}, {5, 217, 28, 1, 0, 0}, {6, 104, 3, 0, 0, 0}, {7, 119, 32, 0, 0, 0}, {11, 89, 6, 1, 4, 0}, {20, 214, 20, 3, 2, 3}, {21, 159, 2, 3, 0, 1}, {22, 220, 25, 0, 0, 0}, {23, 168, 23, 3, 4, 5}, {24, 24, 30, 0, 0, 0}, {25, 23, 101, 0, 0, 0}, {26, 170, 22, 0, 0, 0}, {27, 144, 26, 0, 0, 0}, {28, 67, 16, 0, 0, 0}, {29, 115, 14, 0, 0, 0}, {30, 39, 28, 0, 0, 0}, {31, 246, 32, 0, 0, 0}, {32, 185, 28, 0, 0, 0}, {33, 104, 28, 0, 0, 0}, {34, 237, 22, 0, 0, 0}, {35, 244, 22, 0, 0, 0}, {36, 222, 21, 0, 0, 0}, {37, 212, 6, 3, 4, 5}, {38, 9, 6, 3, 4, 5}, {39, 254, 37, 3, 32, 33}, {40, 230, 4, 3, 2, 3}, {41, 28, 4, 3, 2, 3}, {42, 28, 2, 0, 0, 0}, {43, 132, 2, 3, 0, 1}, {44, 221, 4, 3, 2, 3}, {45, 232, 2, 3, 0, 1}, {46, 11, 2, 0, 0, 0}, {47, 153, 3, 3, 0, 1}, {48, 41, 13, 1, 12, 0}, {49, 39, 12, 0, 0, 0}, {50, 78, 37, 3, 18, 19}, {51, 196, 4, 3, 2, 3}, {54, 15, 27, 3, 24, 25}, {55, 3, 25, 0, 0, 0}, {61, 153, 68, 0, 0, 0}, {62, 183, 26, 0, 0, 0}, {63, 51, 185, 0, 0, 0}, {64, 59, 229, 0, 0, 0}, {65, 118, 42, 0, 0, 0}, {66, 148, 6, 3, 2, 3}, {67, 21, 4, 0, 0, 0}, {69, 243, 11, 0, 0, 0}, {70, 124, 18, 3, 16, 17}, {73, 38, 37, 3, 32, 33}, {74, 20, 20, 0, 0, 0}, {75, 158, 35, 3, 30, 31}, {76, 152, 33, 3, 30, 31}, {77, 143, 3, 0, 0, 0}, {81, 106, 22, 0, 0, 0}, {82, 49, 39, 3, 36, 37}, {83, 22, 37, 0, 0, 0}, {84, 143, 53, 3, 50, 51}, {85, 140, 51, 0, 0, 0}, {86, 5, 53, 3, 50, 51}, {87, 150, 51, 0, 0, 0}, {89, 231, 28, 0, 0, 0}, {90, 183, 56, 0, 0, 0}, {91, 63, 42, 0, 0, 0}, {92, 54, 33, 0, 0, 0}, {100, 175, 26, 0, 0, 0}, {101, 102, 32, 0, 0, 0}, {102, 158, 32, 0, 0, 0}, {103, 208, 20, 0, 0, 0}, {104, 56, 32, 0, 0, 0}, {105, 93, 62, 0, 0, 0}, {106, 138, 44, 0, 0, 0}, {107, 108, 64, 0, 0, 0}, {108, 32, 84, 0, 0, 0}, {109, 185, 9, 0, 0, 0}, {110, 84, 254, 3, 1, 2}, {111, 34, 16, 0, 0, 0}, {112, 174, 12, 0, 0, 0}, {113, 124, 36, 0, 0, 0}, {114, 237, 44, 0, 0, 0}, {115, 4, 64, 0, 0, 0}, {116, 76, 22, 0, 0, 0}, {117, 128, 6, 3, 4, 5}, {118, 56, 14, 0, 0, 0}, {119, 116, 12, 3, 10, 11}, {120, 134, 97, 0, 0, 0}, {121, 237, 2, 3, 0, 1}, {122, 203, 2, 3, 0, 1}, {123, 250, 113, 3, 0, 1}, {124, 87, 35, 0, 0, 0}, {125, 203, 6, 0, 0, 0}, {126, 220, 79, 0, 0, 0}, {127, 25, 35, 0, 0, 0}, {128, 226, 35, 0, 0, 0}, {129, 46, 22, 0, 0, 0}, {130, 29, 13, 0, 0, 0}, {131, 223, 255, 0, 0, 0}, {132, 85, 14, 0, 0, 0}, {133, 6, 18, 0, 0, 0}, {134, 229, 43, 0, 0, 0}, {135, 203, 8, 0, 0, 0}, {136, 1, 22, 0, 0, 0}, {137, 195, 14, 0, 0, 0}, {138, 109, 36, 0, 0, 0}, {139, 168, 43, 3, 41, 42}, {140, 181, 41, 0, 0, 0}, {141, 47, 32, 0, 0, 0}, {142, 72, 243, 0, 0, 0}, {143, 131, 14, 0, 0, 0}, {144, 127, 93, 0, 0, 0}, {146, 103, 100, 0, 0, 0}, {147, 154, 36, 0, 0, 0}, {148, 178, 60, 0, 0, 0}, {149, 200, 30, 0, 0, 0}, {230, 163, 42, 0, 0, 0}, {231, 105, 40, 0, 0, 0}, {233, 35, 182, 0, 0, 0}, {241, 90, 32, 0, 0, 0}, {242, 104, 52, 0, 0, 0}, {243, 85, 53, 1, 52, 0}, {244, 95, 6, 0, 0, 0}, {245, 130, 2, 0, 0, 0}, {246, 184, 38, 0, 0, 0}, {248, 8, 254, 3, 3, 4}, {249, 204, 36, 0, 0, 0}, {250, 49, 30, 0, 0, 0}, {251, 170, 18, 0, 0, 0}, {252, 44, 18, 0, 0, 0}, {253, 83, 51, 0, 0, 0}, {254, 46, 9, 0, 0, 0}, {256, 71, 42, 3, 8, 9}}
24#endif
25
26#ifndef MAVLINK_MESSAGE_INFO
27#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_PARAM_MAP_RC, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION_COV, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT_COV, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_COV, MAVLINK_MESSAGE_INFO_RC_CHANNELS, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, MAVLINK_MESSAGE_INFO_MISSION_ITEM_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND_INT, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, MAVLINK_MESSAGE_INFO_SET_ATTITUDE_TARGET, MAVLINK_MESSAGE_INFO_ATTITUDE_TARGET, MAVLINK_MESSAGE_INFO_SET_POSITION_TARGET_LOCAL_NED, MAVLINK_MESSAGE_INFO_POSITION_TARGET_LOCAL_NED, MAVLINK_MESSAGE_INFO_SET_POSITION_TARGET_GLOBAL_INT, MAVLINK_MESSAGE_INFO_POSITION_TARGET_GLOBAL_INT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW_RAD, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_PROTOCOL, MAVLINK_MESSAGE_INFO_TIMESYNC, MAVLINK_MESSAGE_INFO_CAMERA_TRIGGER, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_RAW, MAVLINK_MESSAGE_INFO_POWER_STATUS, MAVLINK_MESSAGE_INFO_SERIAL_CONTROL, MAVLINK_MESSAGE_INFO_GPS_RTK, MAVLINK_MESSAGE_INFO_GPS2_RTK, MAVLINK_MESSAGE_INFO_SCALED_IMU3, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR, MAVLINK_MESSAGE_INFO_TERRAIN_REQUEST, MAVLINK_MESSAGE_INFO_TERRAIN_DATA, MAVLINK_MESSAGE_INFO_TERRAIN_CHECK, MAVLINK_MESSAGE_INFO_TERRAIN_REPORT, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE2, MAVLINK_MESSAGE_INFO_ATT_POS_MOCAP, MAVLINK_MESSAGE_INFO_SET_ACTUATOR_CONTROL_TARGET, MAVLINK_MESSAGE_INFO_ACTUATOR_CONTROL_TARGET, MAVLINK_MESSAGE_INFO_ALTITUDE, MAVLINK_MESSAGE_INFO_RESOURCE_REQUEST, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE3, MAVLINK_MESSAGE_INFO_FOLLOW_TARGET, MAVLINK_MESSAGE_INFO_CONTROL_SYSTEM_STATE, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_AUTOPILOT_VERSION, MAVLINK_MESSAGE_INFO_LANDING_TARGET, MAVLINK_MESSAGE_INFO_ESTIMATOR_STATUS, MAVLINK_MESSAGE_INFO_WIND_COV, MAVLINK_MESSAGE_INFO_GPS_RTCM_DATA, MAVLINK_MESSAGE_INFO_VIBRATION, MAVLINK_MESSAGE_INFO_HOME_POSITION, MAVLINK_MESSAGE_INFO_SET_HOME_POSITION, MAVLINK_MESSAGE_INFO_MESSAGE_INTERVAL, MAVLINK_MESSAGE_INFO_EXTENDED_SYS_STATE, MAVLINK_MESSAGE_INFO_ADSB_VEHICLE, MAVLINK_MESSAGE_INFO_V2_EXTENSION, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, MAVLINK_MESSAGE_INFO_SETUP_SIGNING}
28#endif
29
30#include "../protocol.h"
31
32#define MAVLINK_ENABLED_COMMON
33
34// ENUM DEFINITIONS
35
36
37/** @brief Micro air vehicle / autopilot classes. This identifies the individual model. */
38#ifndef HAVE_ENUM_MAV_AUTOPILOT
39#define HAVE_ENUM_MAV_AUTOPILOT
40typedef enum MAV_AUTOPILOT
41{
42 MAV_AUTOPILOT_GENERIC=0, /* Generic autopilot, full support for everything | */
43 MAV_AUTOPILOT_RESERVED=1, /* Reserved for future use. | */
44 MAV_AUTOPILOT_SLUGS=2, /* SLUGS autopilot, http://slugsuav.soe.ucsc.edu | */
45 MAV_AUTOPILOT_ARDUPILOTMEGA=3, /* ArduPilotMega / ArduCopter, http://diydrones.com | */
46 MAV_AUTOPILOT_OPENPILOT=4, /* OpenPilot, http://openpilot.org | */
47 MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY=5, /* Generic autopilot only supporting simple waypoints | */
48 MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY=6, /* Generic autopilot supporting waypoints and other simple navigation commands | */
49 MAV_AUTOPILOT_GENERIC_MISSION_FULL=7, /* Generic autopilot supporting the full mission command set | */
50 MAV_AUTOPILOT_INVALID=8, /* No valid autopilot, e.g. a GCS or other MAVLink component | */
51 MAV_AUTOPILOT_PPZ=9, /* PPZ UAV - http://nongnu.org/paparazzi | */
52 MAV_AUTOPILOT_UDB=10, /* UAV Dev Board | */
53 MAV_AUTOPILOT_FP=11, /* FlexiPilot | */
54 MAV_AUTOPILOT_PX4=12, /* PX4 Autopilot - http://pixhawk.ethz.ch/px4/ | */
55 MAV_AUTOPILOT_SMACCMPILOT=13, /* SMACCMPilot - http://smaccmpilot.org | */
56 MAV_AUTOPILOT_AUTOQUAD=14, /* AutoQuad -- http://autoquad.org | */
57 MAV_AUTOPILOT_ARMAZILA=15, /* Armazila -- http://armazila.com | */
58 MAV_AUTOPILOT_AEROB=16, /* Aerob -- http://aerob.ru | */
59 MAV_AUTOPILOT_ASLUAV=17, /* ASLUAV autopilot -- http://www.asl.ethz.ch | */
60 MAV_AUTOPILOT_ENUM_END=18, /* | */
61} MAV_AUTOPILOT;
62#endif
63
64/** @brief */
65#ifndef HAVE_ENUM_MAV_TYPE
66#define HAVE_ENUM_MAV_TYPE
67typedef enum MAV_TYPE
68{
69 MAV_TYPE_GENERIC=0, /* Generic micro air vehicle. | */
70 MAV_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
71 MAV_TYPE_QUADROTOR=2, /* Quadrotor | */
72 MAV_TYPE_COAXIAL=3, /* Coaxial helicopter | */
73 MAV_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */
74 MAV_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */
75 MAV_TYPE_GCS=6, /* Operator control unit / ground control station | */
76 MAV_TYPE_AIRSHIP=7, /* Airship, controlled | */
77 MAV_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */
78 MAV_TYPE_ROCKET=9, /* Rocket | */
79 MAV_TYPE_GROUND_ROVER=10, /* Ground rover | */
80 MAV_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */
81 MAV_TYPE_SUBMARINE=12, /* Submarine | */
82 MAV_TYPE_HEXAROTOR=13, /* Hexarotor | */
83 MAV_TYPE_OCTOROTOR=14, /* Octorotor | */
84 MAV_TYPE_TRICOPTER=15, /* Octorotor | */
85 MAV_TYPE_FLAPPING_WING=16, /* Flapping wing | */
86 MAV_TYPE_KITE=17, /* Flapping wing | */
87 MAV_TYPE_ONBOARD_CONTROLLER=18, /* Onboard companion controller | */
88 MAV_TYPE_VTOL_DUOROTOR=19, /* Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter. | */
89 MAV_TYPE_VTOL_QUADROTOR=20, /* Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter. | */
90 MAV_TYPE_VTOL_TILTROTOR=21, /* Tiltrotor VTOL | */
91 MAV_TYPE_VTOL_RESERVED2=22, /* VTOL reserved 2 | */
92 MAV_TYPE_VTOL_RESERVED3=23, /* VTOL reserved 3 | */
93 MAV_TYPE_VTOL_RESERVED4=24, /* VTOL reserved 4 | */
94 MAV_TYPE_VTOL_RESERVED5=25, /* VTOL reserved 5 | */
95 MAV_TYPE_GIMBAL=26, /* Onboard gimbal | */
96 MAV_TYPE_ADSB=27, /* Onboard ADSB peripheral | */
97 MAV_TYPE_ENUM_END=28, /* | */
98} MAV_TYPE;
99#endif
100
101/** @brief These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65. */
102#ifndef HAVE_ENUM_FIRMWARE_VERSION_TYPE
103#define HAVE_ENUM_FIRMWARE_VERSION_TYPE
104typedef enum FIRMWARE_VERSION_TYPE
105{
106 FIRMWARE_VERSION_TYPE_DEV=0, /* development release | */
107 FIRMWARE_VERSION_TYPE_ALPHA=64, /* alpha release | */
108 FIRMWARE_VERSION_TYPE_BETA=128, /* beta release | */
109 FIRMWARE_VERSION_TYPE_RC=192, /* release candidate | */
110 FIRMWARE_VERSION_TYPE_OFFICIAL=255, /* official stable release | */
111 FIRMWARE_VERSION_TYPE_ENUM_END=256, /* | */
112} FIRMWARE_VERSION_TYPE;
113#endif
114
115/** @brief These flags encode the MAV mode. */
116#ifndef HAVE_ENUM_MAV_MODE_FLAG
117#define HAVE_ENUM_MAV_MODE_FLAG
118typedef enum MAV_MODE_FLAG
119{
120 MAV_MODE_FLAG_CUSTOM_MODE_ENABLED=1, /* 0b00000001 Reserved for future use. | */
121 MAV_MODE_FLAG_TEST_ENABLED=2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
122 MAV_MODE_FLAG_AUTO_ENABLED=4, /* 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. | */
123 MAV_MODE_FLAG_GUIDED_ENABLED=8, /* 0b00001000 guided mode enabled, system flies MISSIONs / mission items. | */
124 MAV_MODE_FLAG_STABILIZE_ENABLED=16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */
125 MAV_MODE_FLAG_HIL_ENABLED=32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */
126 MAV_MODE_FLAG_MANUAL_INPUT_ENABLED=64, /* 0b01000000 remote control input is enabled. | */
127 MAV_MODE_FLAG_SAFETY_ARMED=128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. | */
128 MAV_MODE_FLAG_ENUM_END=129, /* | */
129} MAV_MODE_FLAG;
130#endif
131
132/** @brief These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not. */
133#ifndef HAVE_ENUM_MAV_MODE_FLAG_DECODE_POSITION
134#define HAVE_ENUM_MAV_MODE_FLAG_DECODE_POSITION
135typedef enum MAV_MODE_FLAG_DECODE_POSITION
136{
137 MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE=1, /* Eighth bit: 00000001 | */
138 MAV_MODE_FLAG_DECODE_POSITION_TEST=2, /* Seventh bit: 00000010 | */
139 MAV_MODE_FLAG_DECODE_POSITION_AUTO=4, /* Sixt bit: 00000100 | */
140 MAV_MODE_FLAG_DECODE_POSITION_GUIDED=8, /* Fifth bit: 00001000 | */
141 MAV_MODE_FLAG_DECODE_POSITION_STABILIZE=16, /* Fourth bit: 00010000 | */
142 MAV_MODE_FLAG_DECODE_POSITION_HIL=32, /* Third bit: 00100000 | */
143 MAV_MODE_FLAG_DECODE_POSITION_MANUAL=64, /* Second bit: 01000000 | */
144 MAV_MODE_FLAG_DECODE_POSITION_SAFETY=128, /* First bit: 10000000 | */
145 MAV_MODE_FLAG_DECODE_POSITION_ENUM_END=129, /* | */
146} MAV_MODE_FLAG_DECODE_POSITION;
147#endif
148
149/** @brief Override command, pauses current mission execution and moves immediately to a position */
150#ifndef HAVE_ENUM_MAV_GOTO
151#define HAVE_ENUM_MAV_GOTO
152typedef enum MAV_GOTO
153{
154 MAV_GOTO_DO_HOLD=0, /* Hold at the current position. | */
155 MAV_GOTO_DO_CONTINUE=1, /* Continue with the next item in mission execution. | */
156 MAV_GOTO_HOLD_AT_CURRENT_POSITION=2, /* Hold at the current position of the system | */
157 MAV_GOTO_HOLD_AT_SPECIFIED_POSITION=3, /* Hold at the position specified in the parameters of the DO_HOLD action | */
158 MAV_GOTO_ENUM_END=4, /* | */
159} MAV_GOTO;
160#endif
161
162/** @brief These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it
163 simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override. */
164#ifndef HAVE_ENUM_MAV_MODE
165#define HAVE_ENUM_MAV_MODE
166typedef enum MAV_MODE
167{
168 MAV_MODE_PREFLIGHT=0, /* System is not ready to fly, booting, calibrating, etc. No flag is set. | */
169 MAV_MODE_MANUAL_DISARMED=64, /* System is allowed to be active, under manual (RC) control, no stabilization | */
170 MAV_MODE_TEST_DISARMED=66, /* UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. | */
171 MAV_MODE_STABILIZE_DISARMED=80, /* System is allowed to be active, under assisted RC control. | */
172 MAV_MODE_GUIDED_DISARMED=88, /* System is allowed to be active, under autonomous control, manual setpoint | */
173 MAV_MODE_AUTO_DISARMED=92, /* System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) | */
174 MAV_MODE_MANUAL_ARMED=192, /* System is allowed to be active, under manual (RC) control, no stabilization | */
175 MAV_MODE_TEST_ARMED=194, /* UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. | */
176 MAV_MODE_STABILIZE_ARMED=208, /* System is allowed to be active, under assisted RC control. | */
177 MAV_MODE_GUIDED_ARMED=216, /* System is allowed to be active, under autonomous control, manual setpoint | */
178 MAV_MODE_AUTO_ARMED=220, /* System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) | */
179 MAV_MODE_ENUM_END=221, /* | */
180} MAV_MODE;
181#endif
182
183/** @brief */
184#ifndef HAVE_ENUM_MAV_STATE
185#define HAVE_ENUM_MAV_STATE
186typedef enum MAV_STATE
187{
188 MAV_STATE_UNINIT=0, /* Uninitialized system, state is unknown. | */
189 MAV_STATE_BOOT=1, /* System is booting up. | */
190 MAV_STATE_CALIBRATING=2, /* System is calibrating and not flight-ready. | */
191 MAV_STATE_STANDBY=3, /* System is grounded and on standby. It can be launched any time. | */
192 MAV_STATE_ACTIVE=4, /* System is active and might be already airborne. Motors are engaged. | */
193 MAV_STATE_CRITICAL=5, /* System is in a non-normal flight mode. It can however still navigate. | */
194 MAV_STATE_EMERGENCY=6, /* System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down. | */
195 MAV_STATE_POWEROFF=7, /* System just initialized its power-down sequence, will shut down now. | */
196 MAV_STATE_ENUM_END=8, /* | */
197} MAV_STATE;
198#endif
199
200/** @brief */
201#ifndef HAVE_ENUM_MAV_COMPONENT
202#define HAVE_ENUM_MAV_COMPONENT
203typedef enum MAV_COMPONENT
204{
205 MAV_COMP_ID_ALL=0, /* | */
206 MAV_COMP_ID_CAMERA=100, /* | */
207 MAV_COMP_ID_SERVO1=140, /* | */
208 MAV_COMP_ID_SERVO2=141, /* | */
209 MAV_COMP_ID_SERVO3=142, /* | */
210 MAV_COMP_ID_SERVO4=143, /* | */
211 MAV_COMP_ID_SERVO5=144, /* | */
212 MAV_COMP_ID_SERVO6=145, /* | */
213 MAV_COMP_ID_SERVO7=146, /* | */
214 MAV_COMP_ID_SERVO8=147, /* | */
215 MAV_COMP_ID_SERVO9=148, /* | */
216 MAV_COMP_ID_SERVO10=149, /* | */
217 MAV_COMP_ID_SERVO11=150, /* | */
218 MAV_COMP_ID_SERVO12=151, /* | */
219 MAV_COMP_ID_SERVO13=152, /* | */
220 MAV_COMP_ID_SERVO14=153, /* | */
221 MAV_COMP_ID_GIMBAL=154, /* | */
222 MAV_COMP_ID_LOG=155, /* | */
223 MAV_COMP_ID_ADSB=156, /* | */
224 MAV_COMP_ID_OSD=157, /* On Screen Display (OSD) devices for video links | */
225 MAV_COMP_ID_PERIPHERAL=158, /* Generic autopilot peripheral component ID. Meant for devices that do not implement the parameter sub-protocol | */
226 MAV_COMP_ID_QX1_GIMBAL=159, /* | */
227 MAV_COMP_ID_MAPPER=180, /* | */
228 MAV_COMP_ID_MISSIONPLANNER=190, /* | */
229 MAV_COMP_ID_PATHPLANNER=195, /* | */
230 MAV_COMP_ID_IMU=200, /* | */
231 MAV_COMP_ID_IMU_2=201, /* | */
232 MAV_COMP_ID_IMU_3=202, /* | */
233 MAV_COMP_ID_GPS=220, /* | */
234 MAV_COMP_ID_UDP_BRIDGE=240, /* | */
235 MAV_COMP_ID_UART_BRIDGE=241, /* | */
236 MAV_COMP_ID_SYSTEM_CONTROL=250, /* | */
237 MAV_COMPONENT_ENUM_END=251, /* | */
238} MAV_COMPONENT;
239#endif
240
241/** @brief These encode the sensors whose status is sent as part of the SYS_STATUS message. */
242#ifndef HAVE_ENUM_MAV_SYS_STATUS_SENSOR
243#define HAVE_ENUM_MAV_SYS_STATUS_SENSOR
244typedef enum MAV_SYS_STATUS_SENSOR
245{
246 MAV_SYS_STATUS_SENSOR_3D_GYRO=1, /* 0x01 3D gyro | */
247 MAV_SYS_STATUS_SENSOR_3D_ACCEL=2, /* 0x02 3D accelerometer | */
248 MAV_SYS_STATUS_SENSOR_3D_MAG=4, /* 0x04 3D magnetometer | */
249 MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE=8, /* 0x08 absolute pressure | */
250 MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE=16, /* 0x10 differential pressure | */
251 MAV_SYS_STATUS_SENSOR_GPS=32, /* 0x20 GPS | */
252 MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW=64, /* 0x40 optical flow | */
253 MAV_SYS_STATUS_SENSOR_VISION_POSITION=128, /* 0x80 computer vision position | */
254 MAV_SYS_STATUS_SENSOR_LASER_POSITION=256, /* 0x100 laser based position | */
255 MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH=512, /* 0x200 external ground truth (Vicon or Leica) | */
256 MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL=1024, /* 0x400 3D angular rate control | */
257 MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION=2048, /* 0x800 attitude stabilization | */
258 MAV_SYS_STATUS_SENSOR_YAW_POSITION=4096, /* 0x1000 yaw position | */
259 MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL=8192, /* 0x2000 z/altitude control | */
260 MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL=16384, /* 0x4000 x/y position control | */
261 MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS=32768, /* 0x8000 motor outputs / control | */
262 MAV_SYS_STATUS_SENSOR_RC_RECEIVER=65536, /* 0x10000 rc receiver | */
263 MAV_SYS_STATUS_SENSOR_3D_GYRO2=131072, /* 0x20000 2nd 3D gyro | */
264 MAV_SYS_STATUS_SENSOR_3D_ACCEL2=262144, /* 0x40000 2nd 3D accelerometer | */
265 MAV_SYS_STATUS_SENSOR_3D_MAG2=524288, /* 0x80000 2nd 3D magnetometer | */
266 MAV_SYS_STATUS_GEOFENCE=1048576, /* 0x100000 geofence | */
267 MAV_SYS_STATUS_AHRS=2097152, /* 0x200000 AHRS subsystem health | */
268 MAV_SYS_STATUS_TERRAIN=4194304, /* 0x400000 Terrain subsystem health | */
269 MAV_SYS_STATUS_REVERSE_MOTOR=8388608, /* 0x800000 Motors are reversed | */
270 MAV_SYS_STATUS_SENSOR_ENUM_END=8388609, /* | */
271} MAV_SYS_STATUS_SENSOR;
272#endif
273
274/** @brief */
275#ifndef HAVE_ENUM_MAV_FRAME
276#define HAVE_ENUM_MAV_FRAME
277typedef enum MAV_FRAME
278{
279 MAV_FRAME_GLOBAL=0, /* Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL) | */
280 MAV_FRAME_LOCAL_NED=1, /* Local coordinate frame, Z-up (x: north, y: east, z: down). | */
281 MAV_FRAME_MISSION=2, /* NOT a coordinate frame, indicates a mission command. | */
282 MAV_FRAME_GLOBAL_RELATIVE_ALT=3, /* Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location. | */
283 MAV_FRAME_LOCAL_ENU=4, /* Local coordinate frame, Z-down (x: east, y: north, z: up) | */
284 MAV_FRAME_GLOBAL_INT=5, /* Global coordinate frame, WGS84 coordinate system. First value / x: latitude in degrees*1.0e-7, second value / y: longitude in degrees*1.0e-7, third value / z: positive altitude over mean sea level (MSL) | */
285 MAV_FRAME_GLOBAL_RELATIVE_ALT_INT=6, /* Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude with 0 being at the altitude of the home location. | */
286 MAV_FRAME_LOCAL_OFFSET_NED=7, /* Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position. | */
287 MAV_FRAME_BODY_NED=8, /* Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right. | */
288 MAV_FRAME_BODY_OFFSET_NED=9, /* Offset in body NED frame. This makes sense if adding setpoints to the current flight path, to avoid an obstacle - e.g. useful to command 2 m/s^2 acceleration to the east. | */
289 MAV_FRAME_GLOBAL_TERRAIN_ALT=10, /* Global coordinate frame with above terrain level altitude. WGS84 coordinate system, relative altitude over terrain with respect to the waypoint coordinate. First value / x: latitude in degrees, second value / y: longitude in degrees, third value / z: positive altitude in meters with 0 being at ground level in terrain model. | */
290 MAV_FRAME_GLOBAL_TERRAIN_ALT_INT=11, /* Global coordinate frame with above terrain level altitude. WGS84 coordinate system, relative altitude over terrain with respect to the waypoint coordinate. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude in meters with 0 being at ground level in terrain model. | */
291 MAV_FRAME_ENUM_END=12, /* | */
292} MAV_FRAME;
293#endif
294
295/** @brief */
296#ifndef HAVE_ENUM_MAVLINK_DATA_STREAM_TYPE
297#define HAVE_ENUM_MAVLINK_DATA_STREAM_TYPE
298typedef enum MAVLINK_DATA_STREAM_TYPE
299{
300 MAVLINK_DATA_STREAM_IMG_JPEG=1, /* | */
301 MAVLINK_DATA_STREAM_IMG_BMP=2, /* | */
302 MAVLINK_DATA_STREAM_IMG_RAW8U=3, /* | */
303 MAVLINK_DATA_STREAM_IMG_RAW32U=4, /* | */
304 MAVLINK_DATA_STREAM_IMG_PGM=5, /* | */
305 MAVLINK_DATA_STREAM_IMG_PNG=6, /* | */
306 MAVLINK_DATA_STREAM_TYPE_ENUM_END=7, /* | */
307} MAVLINK_DATA_STREAM_TYPE;
308#endif
309
310/** @brief */
311#ifndef HAVE_ENUM_FENCE_ACTION
312#define HAVE_ENUM_FENCE_ACTION
313typedef enum FENCE_ACTION
314{
315 FENCE_ACTION_NONE=0, /* Disable fenced mode | */
316 FENCE_ACTION_GUIDED=1, /* Switched to guided mode to return point (fence point 0) | */
317 FENCE_ACTION_REPORT=2, /* Report fence breach, but don't take action | */
318 FENCE_ACTION_GUIDED_THR_PASS=3, /* Switched to guided mode to return point (fence point 0) with manual throttle control | */
319 FENCE_ACTION_RTL=4, /* Switch to RTL (return to launch) mode and head for the return point. | */
320 FENCE_ACTION_ENUM_END=5, /* | */
321} FENCE_ACTION;
322#endif
323
324/** @brief */
325#ifndef HAVE_ENUM_FENCE_BREACH
326#define HAVE_ENUM_FENCE_BREACH
327typedef enum FENCE_BREACH
328{
329 FENCE_BREACH_NONE=0, /* No last fence breach | */
330 FENCE_BREACH_MINALT=1, /* Breached minimum altitude | */
331 FENCE_BREACH_MAXALT=2, /* Breached maximum altitude | */
332 FENCE_BREACH_BOUNDARY=3, /* Breached fence boundary | */
333 FENCE_BREACH_ENUM_END=4, /* | */
334} FENCE_BREACH;
335#endif
336
337/** @brief Enumeration of possible mount operation modes */
338#ifndef HAVE_ENUM_MAV_MOUNT_MODE
339#define HAVE_ENUM_MAV_MOUNT_MODE
340typedef enum MAV_MOUNT_MODE
341{
342 MAV_MOUNT_MODE_RETRACT=0, /* Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization | */
343 MAV_MOUNT_MODE_NEUTRAL=1, /* Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. | */
344 MAV_MOUNT_MODE_MAVLINK_TARGETING=2, /* Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization | */
345 MAV_MOUNT_MODE_RC_TARGETING=3, /* Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | */
346 MAV_MOUNT_MODE_GPS_POINT=4, /* Load neutral position and start to point to Lat,Lon,Alt | */
347 MAV_MOUNT_MODE_ENUM_END=5, /* | */
348} MAV_MOUNT_MODE;
349#endif
350
351/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */
352#ifndef HAVE_ENUM_MAV_CMD
353#define HAVE_ENUM_MAV_CMD
354typedef enum MAV_CMD
355{
356 MAV_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */
357 MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
358 MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| Latitude| Longitude| Altitude| */
359 MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| Latitude| Longitude| Altitude| */
360 MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
361 MAV_CMD_NAV_LAND=21, /* Land at location |Abort Alt| Empty| Empty| Desired yaw angle| Latitude| Longitude| Altitude| */
362 MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */
363 MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |Landing target number (if available)| Maximum accepted offset from desired landing position [m] - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| Landing descend rate [ms^-1]| Desired yaw angle [rad]| Y-axis position [m]| X-axis position [m]| Z-axis / ground level position [m]| */
364 MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |Minimum pitch (if airspeed sensor present), desired pitch without sensor [rad]| Empty| Takeoff ascend rate [ms^-1]| Yaw angle [rad] (if magnetometer or another yaw estimation source present), ignored without one of these| Y-axis position [m]| X-axis position [m]| Z-axis position [m]| */
365 MAV_CMD_NAV_FOLLOW=25, /* Vehicle following, i.e. this waypoint represents the position of a moving vehicle |Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation| Ground speed of vehicle to be followed| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
366 MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT=30, /* Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached. |Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude. | Empty| Empty| Empty| Empty| Empty| Desired altitude in meters| */
367 MAV_CMD_NAV_LOITER_TO_ALT=31, /* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. |Heading Required (0 = False)| Radius in meters. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.| Empty| Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location| Latitude| Longitude| Altitude| */
368 MAV_CMD_DO_FOLLOW=32, /* Being following a target |System ID (the system ID of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode| RESERVED| RESERVED| altitude flag: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home| altitude| RESERVED| TTL in seconds in which the MAV should go to the default position hold mode after a message rx timeout| */
369 MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |Camera q1 (where 0 is on the ray from the camera to the tracking device)| Camera q2| Camera q3| Camera q4| altitude offset from target (m)| X offset from target (m)| Y offset from target (m)| */
370 MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
371 MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
372 MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to MISSION using a spline path. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Empty| Empty| Empty| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
373 MAV_CMD_NAV_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode |Empty| Empty| Empty| Yaw angle in degrees| Latitude| Longitude| Altitude| */
374 MAV_CMD_NAV_VTOL_LAND=85, /* Land using VTOL mode |Empty| Empty| Empty| Yaw angle in degrees| Latitude| Longitude| Altitude| */
375 MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */
376 MAV_CMD_NAV_DELAY=93, /* Delay the next navigation command a number of seconds or until a specified time |Delay in seconds (decimal, -1 to enable time-of-day fields)| hour (24h format, UTC, -1 to ignore)| minute (24h format, UTC, -1 to ignore)| second (24h format, UTC)| Empty| Empty| Empty| */
377 MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
378 MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */
379 MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */
380 MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
381 MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */
382 MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
383 MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Custom mode - this is system specific, please refer to the individual autopilot specifications for details.| Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.| Empty| Empty| Empty| Empty| */
384 MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */
385 MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| absolute or relative [0,1]| Empty| Empty| Empty| */
386 MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
387 MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */
388 MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */
389 MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */
390 MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */
391 MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */
392 MAV_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| */
393 MAV_CMD_DO_LAND_START=189, /* Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty| */
394 MAV_CMD_DO_RALLY_LAND=190, /* Mission command to perform a landing from a rally point. |Break altitude (meters)| Landing speed (m/s)| Empty| Empty| Empty| Empty| Empty| */
395 MAV_CMD_DO_GO_AROUND=191, /* Mission command to safely abort an autonmous landing. |Altitude (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
396 MAV_CMD_DO_REPOSITION=192, /* Reposition the vehicle to a specific WGS84 global position. |Ground speed, less than 0 (-1) for default| Bitmask of option flags, see the MAV_DO_REPOSITION_FLAGS enum.| Reserved| Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise)| Latitude (deg * 1E7)| Longitude (deg * 1E7)| Altitude (meters)| */
397 MAV_CMD_DO_PAUSE_CONTINUE=193, /* If in a GPS controlled position mode, hold the current position or continue. |0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
398 MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
399 MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
400 MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| */
401 MAV_CMD_DO_DIGICAM_CONTROL=203, /* Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| */
402 MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| */
403 MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value| */
404 MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
405 MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable, 2=disable_floor_only)| Empty| Empty| Empty| Empty| Empty| Empty| */
406 MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| */
407 MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty| */
408 MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)| q2 - quaternion param #2, x (0 in null-rotation)| q3 - quaternion param #3, y (0 in null-rotation)| q4 - quaternion param #4, z (0 in null-rotation)| Empty| Empty| Empty| */
409 MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */
410 MAV_CMD_DO_GUIDED_LIMITS=222, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty| */
411 MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
412 MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Compass/Motor interference calibration: 0: no, 1: yes| Empty| */
413 MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */
414 MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: Trigger actuator ID assignment and direction mapping.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
415 MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: start logging with rate of param 3 in Hz (e.g. set to 1000 for 1000 Hz logging)| Reserved| Empty| Empty| Empty| */
416 MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.| Reserved, send 0| Reserved, send 0| Reserved, send 0| Reserved, send 0| Reserved, send 0| */
417 MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */
418 MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */
419 MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */
420 MAV_CMD_GET_HOME_POSITION=410, /* Request the home position from the vehicle. |Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
421 MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| */
422 MAV_CMD_GET_MESSAGE_INTERVAL=510, /* Request the interval between messages for a particular MAVLink message ID |The MAVLink message ID| */
423 MAV_CMD_SET_MESSAGE_INTERVAL=511, /* Request the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM |The MAVLink message ID| The interval between two messages, in microseconds. Set to -1 to disable and 0 to request default rate.| */
424 MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES=520, /* Request autopilot capabilities |1: Request autopilot version| Reserved (all remaining params)| */
425 MAV_CMD_IMAGE_START_CAPTURE=2000, /* Start image capture sequence |Duration between two consecutive pictures (in seconds)| Number of images to capture total - 0 for unlimited capture| Resolution in megapixels (0.3 for 640x480, 1.3 for 1280x720, etc)| */
426 MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence |Reserved| Reserved| */
427 MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |Trigger enable/disable (0 for disable, 1 for start)| Shutter integration time (in ms)| Reserved| */
428 MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture |Camera ID (0 for all cameras), 1 for first, 2 for second, etc.| Frames per second| Resolution in megapixels (0.3 for 640x480, 1.3 for 1280x720, etc)| */
429 MAV_CMD_VIDEO_STOP_CAPTURE=2501, /* Stop the current video capture |Reserved| Reserved| */
430 MAV_CMD_PANORAMA_CREATE=2800, /* Create a panorama at the current position |Viewing angle horizontal of the panorama (in degrees, +- 0.5 the total angle)| Viewing angle vertical of panorama (in degrees)| Speed of the horizontal rotation (in degrees per second)| Speed of the vertical rotation (in degrees per second)| */
431 MAV_CMD_DO_VTOL_TRANSITION=3000, /* Request VTOL transition |The target VTOL state, as defined by ENUM MAV_VTOL_STATE. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.| */
432 MAV_CMD_SET_GUIDED_SUBMODE_STANDARD=4000, /* This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocites along all three axes.
433 | */
434 MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE=4001, /* This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
435 |Radius of desired circle in CIRCLE_MODE| User defined| User defined| User defined| Unscaled target latitude of center of circle in CIRCLE_MODE| Unscaled target longitude of center of circle in CIRCLE_MODE| */
436 MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| Desired approach vector in degrees compass heading (0..360). A negative value indicates the system can define the approach vector at will.| Desired ground speed at release time. This can be overriden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.| Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Altitude, in meters AMSL| */
437 MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deploment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| Reserved| Reserved| Reserved| Reserved| Reserved| Reserved| */
438 MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude, in meters AMSL| */
439 MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude, in meters AMSL| */
440 MAV_CMD_WAYPOINT_USER_3=31002, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude, in meters AMSL| */
441 MAV_CMD_WAYPOINT_USER_4=31003, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude, in meters AMSL| */
442 MAV_CMD_WAYPOINT_USER_5=31004, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude, in meters AMSL| */
443 MAV_CMD_SPATIAL_USER_1=31005, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude, in meters AMSL| */
444 MAV_CMD_SPATIAL_USER_2=31006, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude, in meters AMSL| */
445 MAV_CMD_SPATIAL_USER_3=31007, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude, in meters AMSL| */
446 MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude, in meters AMSL| */
447 MAV_CMD_SPATIAL_USER_5=31009, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |User defined| User defined| User defined| User defined| Latitude unscaled| Longitude unscaled| Altitude, in meters AMSL| */
448 MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
449 MAV_CMD_USER_2=31011, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
450 MAV_CMD_USER_3=31012, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
451 MAV_CMD_USER_4=31013, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
452 MAV_CMD_USER_5=31014, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |User defined| User defined| User defined| User defined| User defined| User defined| User defined| */
453 MAV_CMD_ENUM_END=31015, /* | */
454} MAV_CMD;
455#endif
456
457/** @brief THIS INTERFACE IS DEPRECATED AS OF JULY 2015. Please use MESSAGE_INTERVAL instead. A data stream is not a fixed set of messages, but rather a
458 recommendation to the autopilot software. Individual autopilots may or may not obey
459 the recommended messages. */
460#ifndef HAVE_ENUM_MAV_DATA_STREAM
461#define HAVE_ENUM_MAV_DATA_STREAM
462typedef enum MAV_DATA_STREAM
463{
464 MAV_DATA_STREAM_ALL=0, /* Enable all data streams | */
465 MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. | */
466 MAV_DATA_STREAM_EXTENDED_STATUS=2, /* Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS | */
467 MAV_DATA_STREAM_RC_CHANNELS=3, /* Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW | */
468 MAV_DATA_STREAM_RAW_CONTROLLER=4, /* Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. | */
469 MAV_DATA_STREAM_POSITION=6, /* Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. | */
470 MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot | */
471 MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot | */
472 MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot | */
473 MAV_DATA_STREAM_ENUM_END=13, /* | */
474} MAV_DATA_STREAM;
475#endif
476
477/** @brief The ROI (region of interest) for the vehicle. This can be
478 be used by the vehicle for camera/vehicle attitude alignment (see
479 MAV_CMD_NAV_ROI). */
480#ifndef HAVE_ENUM_MAV_ROI
481#define HAVE_ENUM_MAV_ROI
482typedef enum MAV_ROI
483{
484 MAV_ROI_NONE=0, /* No region of interest. | */
485 MAV_ROI_WPNEXT=1, /* Point toward next MISSION. | */
486 MAV_ROI_WPINDEX=2, /* Point toward given MISSION. | */
487 MAV_ROI_LOCATION=3, /* Point toward fixed location. | */
488 MAV_ROI_TARGET=4, /* Point toward of given id. | */
489 MAV_ROI_ENUM_END=5, /* | */
490} MAV_ROI;
491#endif
492
493/** @brief ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission. */
494#ifndef HAVE_ENUM_MAV_CMD_ACK
495#define HAVE_ENUM_MAV_CMD_ACK
496typedef enum MAV_CMD_ACK
497{
498 MAV_CMD_ACK_OK=1, /* Command / mission item is ok. | */
499 MAV_CMD_ACK_ERR_FAIL=2, /* Generic error message if none of the other reasons fails or if no detailed error reporting is implemented. | */
500 MAV_CMD_ACK_ERR_ACCESS_DENIED=3, /* The system is refusing to accept this command from this source / communication partner. | */
501 MAV_CMD_ACK_ERR_NOT_SUPPORTED=4, /* Command or mission item is not supported, other commands would be accepted. | */
502 MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTED=5, /* The coordinate frame of this command / mission item is not supported. | */
503 MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGE=6, /* The coordinate frame of this command is ok, but he coordinate values exceed the safety limits of this system. This is a generic error, please use the more specific error messages below if possible. | */
504 MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE=7, /* The X or latitude value is out of range. | */
505 MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE=8, /* The Y or longitude value is out of range. | */
506 MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE=9, /* The Z or altitude value is out of range. | */
507 MAV_CMD_ACK_ENUM_END=10, /* | */
508} MAV_CMD_ACK;
509#endif
510
511/** @brief Specifies the datatype of a MAVLink parameter. */
512#ifndef HAVE_ENUM_MAV_PARAM_TYPE
513#define HAVE_ENUM_MAV_PARAM_TYPE
514typedef enum MAV_PARAM_TYPE
515{
516 MAV_PARAM_TYPE_UINT8=1, /* 8-bit unsigned integer | */
517 MAV_PARAM_TYPE_INT8=2, /* 8-bit signed integer | */
518 MAV_PARAM_TYPE_UINT16=3, /* 16-bit unsigned integer | */
519 MAV_PARAM_TYPE_INT16=4, /* 16-bit signed integer | */
520 MAV_PARAM_TYPE_UINT32=5, /* 32-bit unsigned integer | */
521 MAV_PARAM_TYPE_INT32=6, /* 32-bit signed integer | */
522 MAV_PARAM_TYPE_UINT64=7, /* 64-bit unsigned integer | */
523 MAV_PARAM_TYPE_INT64=8, /* 64-bit signed integer | */
524 MAV_PARAM_TYPE_REAL32=9, /* 32-bit floating-point | */
525 MAV_PARAM_TYPE_REAL64=10, /* 64-bit floating-point | */
526 MAV_PARAM_TYPE_ENUM_END=11, /* | */
527} MAV_PARAM_TYPE;
528#endif
529
530/** @brief result from a mavlink command */
531#ifndef HAVE_ENUM_MAV_RESULT
532#define HAVE_ENUM_MAV_RESULT
533typedef enum MAV_RESULT
534{
535 MAV_RESULT_ACCEPTED=0, /* Command ACCEPTED and EXECUTED | */
536 MAV_RESULT_TEMPORARILY_REJECTED=1, /* Command TEMPORARY REJECTED/DENIED | */
537 MAV_RESULT_DENIED=2, /* Command PERMANENTLY DENIED | */
538 MAV_RESULT_UNSUPPORTED=3, /* Command UNKNOWN/UNSUPPORTED | */
539 MAV_RESULT_FAILED=4, /* Command executed, but failed | */
540 MAV_RESULT_ENUM_END=5, /* | */
541} MAV_RESULT;
542#endif
543
544/** @brief result in a mavlink mission ack */
545#ifndef HAVE_ENUM_MAV_MISSION_RESULT
546#define HAVE_ENUM_MAV_MISSION_RESULT
547typedef enum MAV_MISSION_RESULT
548{
549 MAV_MISSION_ACCEPTED=0, /* mission accepted OK | */
550 MAV_MISSION_ERROR=1, /* generic error / not accepting mission commands at all right now | */
551 MAV_MISSION_UNSUPPORTED_FRAME=2, /* coordinate frame is not supported | */
552 MAV_MISSION_UNSUPPORTED=3, /* command is not supported | */
553 MAV_MISSION_NO_SPACE=4, /* mission item exceeds storage space | */
554 MAV_MISSION_INVALID=5, /* one of the parameters has an invalid value | */
555 MAV_MISSION_INVALID_PARAM1=6, /* param1 has an invalid value | */
556 MAV_MISSION_INVALID_PARAM2=7, /* param2 has an invalid value | */
557 MAV_MISSION_INVALID_PARAM3=8, /* param3 has an invalid value | */
558 MAV_MISSION_INVALID_PARAM4=9, /* param4 has an invalid value | */
559 MAV_MISSION_INVALID_PARAM5_X=10, /* x/param5 has an invalid value | */
560 MAV_MISSION_INVALID_PARAM6_Y=11, /* y/param6 has an invalid value | */
561 MAV_MISSION_INVALID_PARAM7=12, /* param7 has an invalid value | */
562 MAV_MISSION_INVALID_SEQUENCE=13, /* received waypoint out of sequence | */
563 MAV_MISSION_DENIED=14, /* not accepting any mission commands from this communication partner | */
564 MAV_MISSION_RESULT_ENUM_END=15, /* | */
565} MAV_MISSION_RESULT;
566#endif
567
568/** @brief Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/. */
569#ifndef HAVE_ENUM_MAV_SEVERITY
570#define HAVE_ENUM_MAV_SEVERITY
571typedef enum MAV_SEVERITY
572{
573 MAV_SEVERITY_EMERGENCY=0, /* System is unusable. This is a "panic" condition. | */
574 MAV_SEVERITY_ALERT=1, /* Action should be taken immediately. Indicates error in non-critical systems. | */
575 MAV_SEVERITY_CRITICAL=2, /* Action must be taken immediately. Indicates failure in a primary system. | */
576 MAV_SEVERITY_ERROR=3, /* Indicates an error in secondary/redundant systems. | */
577 MAV_SEVERITY_WARNING=4, /* Indicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning. | */
578 MAV_SEVERITY_NOTICE=5, /* An unusual event has occured, though not an error condition. This should be investigated for the root cause. | */
579 MAV_SEVERITY_INFO=6, /* Normal operational messages. Useful for logging. No action is required for these messages. | */
580 MAV_SEVERITY_DEBUG=7, /* Useful non-operational messages that can assist in debugging. These should not occur during normal operation. | */
581 MAV_SEVERITY_ENUM_END=8, /* | */
582} MAV_SEVERITY;
583#endif
584
585/** @brief Power supply status flags (bitmask) */
586#ifndef HAVE_ENUM_MAV_POWER_STATUS
587#define HAVE_ENUM_MAV_POWER_STATUS
588typedef enum MAV_POWER_STATUS
589{
590 MAV_POWER_STATUS_BRICK_VALID=1, /* main brick power supply valid | */
591 MAV_POWER_STATUS_SERVO_VALID=2, /* main servo power supply valid for FMU | */
592 MAV_POWER_STATUS_USB_CONNECTED=4, /* USB power is connected | */
593 MAV_POWER_STATUS_PERIPH_OVERCURRENT=8, /* peripheral supply is in over-current state | */
594 MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT=16, /* hi-power peripheral supply is in over-current state | */
595 MAV_POWER_STATUS_CHANGED=32, /* Power status has changed since boot | */
596 MAV_POWER_STATUS_ENUM_END=33, /* | */
597} MAV_POWER_STATUS;
598#endif
599
600/** @brief SERIAL_CONTROL device types */
601#ifndef HAVE_ENUM_SERIAL_CONTROL_DEV
602#define HAVE_ENUM_SERIAL_CONTROL_DEV
603typedef enum SERIAL_CONTROL_DEV
604{
605 SERIAL_CONTROL_DEV_TELEM1=0, /* First telemetry port | */
606 SERIAL_CONTROL_DEV_TELEM2=1, /* Second telemetry port | */
607 SERIAL_CONTROL_DEV_GPS1=2, /* First GPS port | */
608 SERIAL_CONTROL_DEV_GPS2=3, /* Second GPS port | */
609 SERIAL_CONTROL_DEV_SHELL=10, /* system shell | */
610 SERIAL_CONTROL_DEV_ENUM_END=11, /* | */
611} SERIAL_CONTROL_DEV;
612#endif
613
614/** @brief SERIAL_CONTROL flags (bitmask) */
615#ifndef HAVE_ENUM_SERIAL_CONTROL_FLAG
616#define HAVE_ENUM_SERIAL_CONTROL_FLAG
617typedef enum SERIAL_CONTROL_FLAG
618{
619 SERIAL_CONTROL_FLAG_REPLY=1, /* Set if this is a reply | */
620 SERIAL_CONTROL_FLAG_RESPOND=2, /* Set if the sender wants the receiver to send a response as another SERIAL_CONTROL message | */
621 SERIAL_CONTROL_FLAG_EXCLUSIVE=4, /* Set if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set | */
622 SERIAL_CONTROL_FLAG_BLOCKING=8, /* Block on writes to the serial port | */
623 SERIAL_CONTROL_FLAG_MULTI=16, /* Send multiple replies until port is drained | */
624 SERIAL_CONTROL_FLAG_ENUM_END=17, /* | */
625} SERIAL_CONTROL_FLAG;
626#endif
627
628/** @brief Enumeration of distance sensor types */
629#ifndef HAVE_ENUM_MAV_DISTANCE_SENSOR
630#define HAVE_ENUM_MAV_DISTANCE_SENSOR
631typedef enum MAV_DISTANCE_SENSOR
632{
633 MAV_DISTANCE_SENSOR_LASER=0, /* Laser rangefinder, e.g. LightWare SF02/F or PulsedLight units | */
634 MAV_DISTANCE_SENSOR_ULTRASOUND=1, /* Ultrasound rangefinder, e.g. MaxBotix units | */
635 MAV_DISTANCE_SENSOR_INFRARED=2, /* Infrared rangefinder, e.g. Sharp units | */
636 MAV_DISTANCE_SENSOR_ENUM_END=3, /* | */
637} MAV_DISTANCE_SENSOR;
638#endif
639
640/** @brief Enumeration of sensor orientation, according to its rotations */
641#ifndef HAVE_ENUM_MAV_SENSOR_ORIENTATION
642#define HAVE_ENUM_MAV_SENSOR_ORIENTATION
643typedef enum MAV_SENSOR_ORIENTATION
644{
645 MAV_SENSOR_ROTATION_NONE=0, /* Roll: 0, Pitch: 0, Yaw: 0 | */
646 MAV_SENSOR_ROTATION_YAW_45=1, /* Roll: 0, Pitch: 0, Yaw: 45 | */
647 MAV_SENSOR_ROTATION_YAW_90=2, /* Roll: 0, Pitch: 0, Yaw: 90 | */
648 MAV_SENSOR_ROTATION_YAW_135=3, /* Roll: 0, Pitch: 0, Yaw: 135 | */
649 MAV_SENSOR_ROTATION_YAW_180=4, /* Roll: 0, Pitch: 0, Yaw: 180 | */
650 MAV_SENSOR_ROTATION_YAW_225=5, /* Roll: 0, Pitch: 0, Yaw: 225 | */
651 MAV_SENSOR_ROTATION_YAW_270=6, /* Roll: 0, Pitch: 0, Yaw: 270 | */
652 MAV_SENSOR_ROTATION_YAW_315=7, /* Roll: 0, Pitch: 0, Yaw: 315 | */
653 MAV_SENSOR_ROTATION_ROLL_180=8, /* Roll: 180, Pitch: 0, Yaw: 0 | */
654 MAV_SENSOR_ROTATION_ROLL_180_YAW_45=9, /* Roll: 180, Pitch: 0, Yaw: 45 | */
655 MAV_SENSOR_ROTATION_ROLL_180_YAW_90=10, /* Roll: 180, Pitch: 0, Yaw: 90 | */
656 MAV_SENSOR_ROTATION_ROLL_180_YAW_135=11, /* Roll: 180, Pitch: 0, Yaw: 135 | */
657 MAV_SENSOR_ROTATION_PITCH_180=12, /* Roll: 0, Pitch: 180, Yaw: 0 | */
658 MAV_SENSOR_ROTATION_ROLL_180_YAW_225=13, /* Roll: 180, Pitch: 0, Yaw: 225 | */
659 MAV_SENSOR_ROTATION_ROLL_180_YAW_270=14, /* Roll: 180, Pitch: 0, Yaw: 270 | */
660 MAV_SENSOR_ROTATION_ROLL_180_YAW_315=15, /* Roll: 180, Pitch: 0, Yaw: 315 | */
661 MAV_SENSOR_ROTATION_ROLL_90=16, /* Roll: 90, Pitch: 0, Yaw: 0 | */
662 MAV_SENSOR_ROTATION_ROLL_90_YAW_45=17, /* Roll: 90, Pitch: 0, Yaw: 45 | */
663 MAV_SENSOR_ROTATION_ROLL_90_YAW_90=18, /* Roll: 90, Pitch: 0, Yaw: 90 | */
664 MAV_SENSOR_ROTATION_ROLL_90_YAW_135=19, /* Roll: 90, Pitch: 0, Yaw: 135 | */
665 MAV_SENSOR_ROTATION_ROLL_270=20, /* Roll: 270, Pitch: 0, Yaw: 0 | */
666 MAV_SENSOR_ROTATION_ROLL_270_YAW_45=21, /* Roll: 270, Pitch: 0, Yaw: 45 | */
667 MAV_SENSOR_ROTATION_ROLL_270_YAW_90=22, /* Roll: 270, Pitch: 0, Yaw: 90 | */
668 MAV_SENSOR_ROTATION_ROLL_270_YAW_135=23, /* Roll: 270, Pitch: 0, Yaw: 135 | */
669 MAV_SENSOR_ROTATION_PITCH_90=24, /* Roll: 0, Pitch: 90, Yaw: 0 | */
670 MAV_SENSOR_ROTATION_PITCH_270=25, /* Roll: 0, Pitch: 270, Yaw: 0 | */
671 MAV_SENSOR_ROTATION_PITCH_180_YAW_90=26, /* Roll: 0, Pitch: 180, Yaw: 90 | */
672 MAV_SENSOR_ROTATION_PITCH_180_YAW_270=27, /* Roll: 0, Pitch: 180, Yaw: 270 | */
673 MAV_SENSOR_ROTATION_ROLL_90_PITCH_90=28, /* Roll: 90, Pitch: 90, Yaw: 0 | */
674 MAV_SENSOR_ROTATION_ROLL_180_PITCH_90=29, /* Roll: 180, Pitch: 90, Yaw: 0 | */
675 MAV_SENSOR_ROTATION_ROLL_270_PITCH_90=30, /* Roll: 270, Pitch: 90, Yaw: 0 | */
676 MAV_SENSOR_ROTATION_ROLL_90_PITCH_180=31, /* Roll: 90, Pitch: 180, Yaw: 0 | */
677 MAV_SENSOR_ROTATION_ROLL_270_PITCH_180=32, /* Roll: 270, Pitch: 180, Yaw: 0 | */
678 MAV_SENSOR_ROTATION_ROLL_90_PITCH_270=33, /* Roll: 90, Pitch: 270, Yaw: 0 | */
679 MAV_SENSOR_ROTATION_ROLL_180_PITCH_270=34, /* Roll: 180, Pitch: 270, Yaw: 0 | */
680 MAV_SENSOR_ROTATION_ROLL_270_PITCH_270=35, /* Roll: 270, Pitch: 270, Yaw: 0 | */
681 MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90=36, /* Roll: 90, Pitch: 180, Yaw: 90 | */
682 MAV_SENSOR_ROTATION_ROLL_90_YAW_270=37, /* Roll: 90, Pitch: 0, Yaw: 270 | */
683 MAV_SENSOR_ROTATION_ROLL_315_PITCH_315_YAW_315=38, /* Roll: 315, Pitch: 315, Yaw: 315 | */
684 MAV_SENSOR_ORIENTATION_ENUM_END=39, /* | */
685} MAV_SENSOR_ORIENTATION;
686#endif
687
688/** @brief Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability. */
689#ifndef HAVE_ENUM_MAV_PROTOCOL_CAPABILITY
690#define HAVE_ENUM_MAV_PROTOCOL_CAPABILITY
691typedef enum MAV_PROTOCOL_CAPABILITY
692{
693 MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT=1, /* Autopilot supports MISSION float message type. | */
694 MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT=2, /* Autopilot supports the new param float message type. | */
695 MAV_PROTOCOL_CAPABILITY_MISSION_INT=4, /* Autopilot supports MISSION_INT scaled integer message type. | */
696 MAV_PROTOCOL_CAPABILITY_COMMAND_INT=8, /* Autopilot supports COMMAND_INT scaled integer message type. | */
697 MAV_PROTOCOL_CAPABILITY_PARAM_UNION=16, /* Autopilot supports the new param union message type. | */
698 MAV_PROTOCOL_CAPABILITY_FTP=32, /* Autopilot supports the new FILE_TRANSFER_PROTOCOL message type. | */
699 MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET=64, /* Autopilot supports commanding attitude offboard. | */
700 MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED=128, /* Autopilot supports commanding position and velocity targets in local NED frame. | */
701 MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT=256, /* Autopilot supports commanding position and velocity targets in global scaled integers. | */
702 MAV_PROTOCOL_CAPABILITY_TERRAIN=512, /* Autopilot supports terrain protocol / data handling. | */
703 MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET=1024, /* Autopilot supports direct actuator control. | */
704 MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION=2048, /* Autopilot supports the flight termination command. | */
705 MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION=4096, /* Autopilot supports onboard compass calibration. | */
706 MAV_PROTOCOL_CAPABILITY_ENUM_END=4097, /* | */
707} MAV_PROTOCOL_CAPABILITY;
708#endif
709
710/** @brief Enumeration of estimator types */
711#ifndef HAVE_ENUM_MAV_ESTIMATOR_TYPE
712#define HAVE_ENUM_MAV_ESTIMATOR_TYPE
713typedef enum MAV_ESTIMATOR_TYPE
714{
715 MAV_ESTIMATOR_TYPE_NAIVE=1, /* This is a naive estimator without any real covariance feedback. | */
716 MAV_ESTIMATOR_TYPE_VISION=2, /* Computer vision based estimate. Might be up to scale. | */
717 MAV_ESTIMATOR_TYPE_VIO=3, /* Visual-inertial estimate. | */
718 MAV_ESTIMATOR_TYPE_GPS=4, /* Plain GPS estimate. | */
719 MAV_ESTIMATOR_TYPE_GPS_INS=5, /* Estimator integrating GPS and inertial sensing. | */
720 MAV_ESTIMATOR_TYPE_ENUM_END=6, /* | */
721} MAV_ESTIMATOR_TYPE;
722#endif
723
724/** @brief Enumeration of battery types */
725#ifndef HAVE_ENUM_MAV_BATTERY_TYPE
726#define HAVE_ENUM_MAV_BATTERY_TYPE
727typedef enum MAV_BATTERY_TYPE
728{
729 MAV_BATTERY_TYPE_UNKNOWN=0, /* Not specified. | */
730 MAV_BATTERY_TYPE_LIPO=1, /* Lithium polymer battery | */
731 MAV_BATTERY_TYPE_LIFE=2, /* Lithium-iron-phosphate battery | */
732 MAV_BATTERY_TYPE_LION=3, /* Lithium-ION battery | */
733 MAV_BATTERY_TYPE_NIMH=4, /* Nickel metal hydride battery | */
734 MAV_BATTERY_TYPE_ENUM_END=5, /* | */
735} MAV_BATTERY_TYPE;
736#endif
737
738/** @brief Enumeration of battery functions */
739#ifndef HAVE_ENUM_MAV_BATTERY_FUNCTION
740#define HAVE_ENUM_MAV_BATTERY_FUNCTION
741typedef enum MAV_BATTERY_FUNCTION
742{
743 MAV_BATTERY_FUNCTION_UNKNOWN=0, /* Battery function is unknown | */
744 MAV_BATTERY_FUNCTION_ALL=1, /* Battery supports all flight systems | */
745 MAV_BATTERY_FUNCTION_PROPULSION=2, /* Battery for the propulsion system | */
746 MAV_BATTERY_FUNCTION_AVIONICS=3, /* Avionics battery | */
747 MAV_BATTERY_TYPE_PAYLOAD=4, /* Payload battery | */
748 MAV_BATTERY_FUNCTION_ENUM_END=5, /* | */
749} MAV_BATTERY_FUNCTION;
750#endif
751
752/** @brief Enumeration of VTOL states */
753#ifndef HAVE_ENUM_MAV_VTOL_STATE
754#define HAVE_ENUM_MAV_VTOL_STATE
755typedef enum MAV_VTOL_STATE
756{
757 MAV_VTOL_STATE_UNDEFINED=0, /* MAV is not configured as VTOL | */
758 MAV_VTOL_STATE_TRANSITION_TO_FW=1, /* VTOL is in transition from multicopter to fixed-wing | */
759 MAV_VTOL_STATE_TRANSITION_TO_MC=2, /* VTOL is in transition from fixed-wing to multicopter | */
760 MAV_VTOL_STATE_MC=3, /* VTOL is in multicopter state | */
761 MAV_VTOL_STATE_FW=4, /* VTOL is in fixed-wing state | */
762 MAV_VTOL_STATE_ENUM_END=5, /* | */
763} MAV_VTOL_STATE;
764#endif
765
766/** @brief Enumeration of landed detector states */
767#ifndef HAVE_ENUM_MAV_LANDED_STATE
768#define HAVE_ENUM_MAV_LANDED_STATE
769typedef enum MAV_LANDED_STATE
770{
771 MAV_LANDED_STATE_UNDEFINED=0, /* MAV landed state is unknown | */
772 MAV_LANDED_STATE_ON_GROUND=1, /* MAV is landed (on ground) | */
773 MAV_LANDED_STATE_IN_AIR=2, /* MAV is in air | */
774 MAV_LANDED_STATE_ENUM_END=3, /* | */
775} MAV_LANDED_STATE;
776#endif
777
778/** @brief Enumeration of the ADSB altimeter types */
779#ifndef HAVE_ENUM_ADSB_ALTITUDE_TYPE
780#define HAVE_ENUM_ADSB_ALTITUDE_TYPE
781typedef enum ADSB_ALTITUDE_TYPE
782{
783 ADSB_ALTITUDE_TYPE_PRESSURE_QNH=0, /* Altitude reported from a Baro source using QNH reference | */
784 ADSB_ALTITUDE_TYPE_GEOMETRIC=1, /* Altitude reported from a GNSS source | */
785 ADSB_ALTITUDE_TYPE_ENUM_END=2, /* | */
786} ADSB_ALTITUDE_TYPE;
787#endif
788
789/** @brief ADSB classification for the type of vehicle emitting the transponder signal */
790#ifndef HAVE_ENUM_ADSB_EMITTER_TYPE
791#define HAVE_ENUM_ADSB_EMITTER_TYPE
792typedef enum ADSB_EMITTER_TYPE
793{
794 ADSB_EMITTER_TYPE_NO_INFO=0, /* | */
795 ADSB_EMITTER_TYPE_LIGHT=1, /* | */
796 ADSB_EMITTER_TYPE_SMALL=2, /* | */
797 ADSB_EMITTER_TYPE_LARGE=3, /* | */
798 ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE=4, /* | */
799 ADSB_EMITTER_TYPE_HEAVY=5, /* | */
800 ADSB_EMITTER_TYPE_HIGHLY_MANUV=6, /* | */
801 ADSB_EMITTER_TYPE_ROTOCRAFT=7, /* | */
802 ADSB_EMITTER_TYPE_UNASSIGNED=8, /* | */
803 ADSB_EMITTER_TYPE_GLIDER=9, /* | */
804 ADSB_EMITTER_TYPE_LIGHTER_AIR=10, /* | */
805 ADSB_EMITTER_TYPE_PARACHUTE=11, /* | */
806 ADSB_EMITTER_TYPE_ULTRA_LIGHT=12, /* | */
807 ADSB_EMITTER_TYPE_UNASSIGNED2=13, /* | */
808 ADSB_EMITTER_TYPE_UAV=14, /* | */
809 ADSB_EMITTER_TYPE_SPACE=15, /* | */
810 ADSB_EMITTER_TYPE_UNASSGINED3=16, /* | */
811 ADSB_EMITTER_TYPE_EMERGENCY_SURFACE=17, /* | */
812 ADSB_EMITTER_TYPE_SERVICE_SURFACE=18, /* | */
813 ADSB_EMITTER_TYPE_POINT_OBSTACLE=19, /* | */
814 ADSB_EMITTER_TYPE_ENUM_END=20, /* | */
815} ADSB_EMITTER_TYPE;
816#endif
817
818/** @brief These flags indicate status such as data validity of each data source. Set = data valid */
819#ifndef HAVE_ENUM_ADSB_FLAGS
820#define HAVE_ENUM_ADSB_FLAGS
821typedef enum ADSB_FLAGS
822{
823 ADSB_FLAGS_VALID_COORDS=1, /* | */
824 ADSB_FLAGS_VALID_ALTITUDE=2, /* | */
825 ADSB_FLAGS_VALID_HEADING=4, /* | */
826 ADSB_FLAGS_VALID_VELOCITY=8, /* | */
827 ADSB_FLAGS_VALID_CALLSIGN=16, /* | */
828 ADSB_FLAGS_VALID_SQUAWK=32, /* | */
829 ADSB_FLAGS_SIMULATED=64, /* | */
830 ADSB_FLAGS_ENUM_END=65, /* | */
831} ADSB_FLAGS;
832#endif
833
834/** @brief Bitmask of options for the MAV_CMD_DO_REPOSITION */
835#ifndef HAVE_ENUM_MAV_DO_REPOSITION_FLAGS
836#define HAVE_ENUM_MAV_DO_REPOSITION_FLAGS
837typedef enum MAV_DO_REPOSITION_FLAGS
838{
839 MAV_DO_REPOSITION_FLAGS_CHANGE_MODE=1, /* The aircraft should immediately transition into guided. This should not be set for follow me applications | */
840 MAV_DO_REPOSITION_FLAGS_ENUM_END=2, /* | */
841} MAV_DO_REPOSITION_FLAGS;
842#endif
843
844/** @brief Flags in EKF_STATUS message */
845#ifndef HAVE_ENUM_ESTIMATOR_STATUS_FLAGS
846#define HAVE_ENUM_ESTIMATOR_STATUS_FLAGS
847typedef enum ESTIMATOR_STATUS_FLAGS
848{
849 ESTIMATOR_ATTITUDE=1, /* True if the attitude estimate is good | */
850 ESTIMATOR_VELOCITY_HORIZ=2, /* True if the horizontal velocity estimate is good | */
851 ESTIMATOR_VELOCITY_VERT=4, /* True if the vertical velocity estimate is good | */
852 ESTIMATOR_POS_HORIZ_REL=8, /* True if the horizontal position (relative) estimate is good | */
853 ESTIMATOR_POS_HORIZ_ABS=16, /* True if the horizontal position (absolute) estimate is good | */
854 ESTIMATOR_POS_VERT_ABS=32, /* True if the vertical position (absolute) estimate is good | */
855 ESTIMATOR_POS_VERT_AGL=64, /* True if the vertical position (above ground) estimate is good | */
856 ESTIMATOR_CONST_POS_MODE=128, /* True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow) | */
857 ESTIMATOR_PRED_POS_HORIZ_REL=256, /* True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate | */
858 ESTIMATOR_PRED_POS_HORIZ_ABS=512, /* True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate | */
859 ESTIMATOR_GPS_GLITCH=1024, /* True if the EKF has detected a GPS glitch | */
860 ESTIMATOR_STATUS_FLAGS_ENUM_END=1025, /* | */
861} ESTIMATOR_STATUS_FLAGS;
862#endif
863
864// MAVLINK VERSION
865
866#ifndef MAVLINK_VERSION
867#define MAVLINK_VERSION 3
868#endif
869
870#if (MAVLINK_VERSION == 0)
871#undef MAVLINK_VERSION
872#define MAVLINK_VERSION 3
873#endif
874
875// MESSAGE DEFINITIONS
876#include "./mavlink_msg_heartbeat.h"
877#include "./mavlink_msg_sys_status.h"
878#include "./mavlink_msg_system_time.h"
879#include "./mavlink_msg_ping.h"
880#include "./mavlink_msg_change_operator_control.h"
881#include "./mavlink_msg_change_operator_control_ack.h"
882#include "./mavlink_msg_auth_key.h"
883#include "./mavlink_msg_set_mode.h"
884#include "./mavlink_msg_param_request_read.h"
885#include "./mavlink_msg_param_request_list.h"
886#include "./mavlink_msg_param_value.h"
887#include "./mavlink_msg_param_set.h"
888#include "./mavlink_msg_gps_raw_int.h"
889#include "./mavlink_msg_gps_status.h"
890#include "./mavlink_msg_scaled_imu.h"
891#include "./mavlink_msg_raw_imu.h"
892#include "./mavlink_msg_raw_pressure.h"
893#include "./mavlink_msg_scaled_pressure.h"
894#include "./mavlink_msg_attitude.h"
895#include "./mavlink_msg_attitude_quaternion.h"
896#include "./mavlink_msg_local_position_ned.h"
897#include "./mavlink_msg_global_position_int.h"
898#include "./mavlink_msg_rc_channels_scaled.h"
899#include "./mavlink_msg_rc_channels_raw.h"
900#include "./mavlink_msg_servo_output_raw.h"
901#include "./mavlink_msg_mission_request_partial_list.h"
902#include "./mavlink_msg_mission_write_partial_list.h"
903#include "./mavlink_msg_mission_item.h"
904#include "./mavlink_msg_mission_request.h"
905#include "./mavlink_msg_mission_set_current.h"
906#include "./mavlink_msg_mission_current.h"
907#include "./mavlink_msg_mission_request_list.h"
908#include "./mavlink_msg_mission_count.h"
909#include "./mavlink_msg_mission_clear_all.h"
910#include "./mavlink_msg_mission_item_reached.h"
911#include "./mavlink_msg_mission_ack.h"
912#include "./mavlink_msg_set_gps_global_origin.h"
913#include "./mavlink_msg_gps_global_origin.h"
914#include "./mavlink_msg_param_map_rc.h"
915#include "./mavlink_msg_mission_request_int.h"
916#include "./mavlink_msg_safety_set_allowed_area.h"
917#include "./mavlink_msg_safety_allowed_area.h"
918#include "./mavlink_msg_attitude_quaternion_cov.h"
919#include "./mavlink_msg_nav_controller_output.h"
920#include "./mavlink_msg_global_position_int_cov.h"
921#include "./mavlink_msg_local_position_ned_cov.h"
922#include "./mavlink_msg_rc_channels.h"
923#include "./mavlink_msg_request_data_stream.h"
924#include "./mavlink_msg_data_stream.h"
925#include "./mavlink_msg_manual_control.h"
926#include "./mavlink_msg_rc_channels_override.h"
927#include "./mavlink_msg_mission_item_int.h"
928#include "./mavlink_msg_vfr_hud.h"
929#include "./mavlink_msg_command_int.h"
930#include "./mavlink_msg_command_long.h"
931#include "./mavlink_msg_command_ack.h"
932#include "./mavlink_msg_manual_setpoint.h"
933#include "./mavlink_msg_set_attitude_target.h"
934#include "./mavlink_msg_attitude_target.h"
935#include "./mavlink_msg_set_position_target_local_ned.h"
936#include "./mavlink_msg_position_target_local_ned.h"
937#include "./mavlink_msg_set_position_target_global_int.h"
938#include "./mavlink_msg_position_target_global_int.h"
939#include "./mavlink_msg_local_position_ned_system_global_offset.h"
940#include "./mavlink_msg_hil_state.h"
941#include "./mavlink_msg_hil_controls.h"
942#include "./mavlink_msg_hil_rc_inputs_raw.h"
943#include "./mavlink_msg_optical_flow.h"
944#include "./mavlink_msg_global_vision_position_estimate.h"
945#include "./mavlink_msg_vision_position_estimate.h"
946#include "./mavlink_msg_vision_speed_estimate.h"
947#include "./mavlink_msg_vicon_position_estimate.h"
948#include "./mavlink_msg_highres_imu.h"
949#include "./mavlink_msg_optical_flow_rad.h"
950#include "./mavlink_msg_hil_sensor.h"
951#include "./mavlink_msg_sim_state.h"
952#include "./mavlink_msg_radio_status.h"
953#include "./mavlink_msg_file_transfer_protocol.h"
954#include "./mavlink_msg_timesync.h"
955#include "./mavlink_msg_camera_trigger.h"
956#include "./mavlink_msg_hil_gps.h"
957#include "./mavlink_msg_hil_optical_flow.h"
958#include "./mavlink_msg_hil_state_quaternion.h"
959#include "./mavlink_msg_scaled_imu2.h"
960#include "./mavlink_msg_log_request_list.h"
961#include "./mavlink_msg_log_entry.h"
962#include "./mavlink_msg_log_request_data.h"
963#include "./mavlink_msg_log_data.h"
964#include "./mavlink_msg_log_erase.h"
965#include "./mavlink_msg_log_request_end.h"
966#include "./mavlink_msg_gps_inject_data.h"
967#include "./mavlink_msg_gps2_raw.h"
968#include "./mavlink_msg_power_status.h"
969#include "./mavlink_msg_serial_control.h"
970#include "./mavlink_msg_gps_rtk.h"
971#include "./mavlink_msg_gps2_rtk.h"
972#include "./mavlink_msg_scaled_imu3.h"
973#include "./mavlink_msg_data_transmission_handshake.h"
974#include "./mavlink_msg_encapsulated_data.h"
975#include "./mavlink_msg_distance_sensor.h"
976#include "./mavlink_msg_terrain_request.h"
977#include "./mavlink_msg_terrain_data.h"
978#include "./mavlink_msg_terrain_check.h"
979#include "./mavlink_msg_terrain_report.h"
980#include "./mavlink_msg_scaled_pressure2.h"
981#include "./mavlink_msg_att_pos_mocap.h"
982#include "./mavlink_msg_set_actuator_control_target.h"
983#include "./mavlink_msg_actuator_control_target.h"
984#include "./mavlink_msg_altitude.h"
985#include "./mavlink_msg_resource_request.h"
986#include "./mavlink_msg_scaled_pressure3.h"
987#include "./mavlink_msg_follow_target.h"
988#include "./mavlink_msg_control_system_state.h"
989#include "./mavlink_msg_battery_status.h"
990#include "./mavlink_msg_autopilot_version.h"
991#include "./mavlink_msg_landing_target.h"
992#include "./mavlink_msg_estimator_status.h"
993#include "./mavlink_msg_wind_cov.h"
994#include "./mavlink_msg_gps_rtcm_data.h"
995#include "./mavlink_msg_vibration.h"
996#include "./mavlink_msg_home_position.h"
997#include "./mavlink_msg_set_home_position.h"
998#include "./mavlink_msg_message_interval.h"
999#include "./mavlink_msg_extended_sys_state.h"
1000#include "./mavlink_msg_adsb_vehicle.h"
1001#include "./mavlink_msg_v2_extension.h"
1002#include "./mavlink_msg_memory_vect.h"
1003#include "./mavlink_msg_debug_vect.h"
1004#include "./mavlink_msg_named_value_float.h"
1005#include "./mavlink_msg_named_value_int.h"
1006#include "./mavlink_msg_statustext.h"
1007#include "./mavlink_msg_debug.h"
1008#include "./mavlink_msg_setup_signing.h"
1009
1010// base include
1011
1012
1013#if MAVLINK_COMMAND_24BIT
1014#include "../mavlink_get_info.h"
1015#endif
1016
1017#ifdef __cplusplus
1018}
1019#endif // __cplusplus
1020#endif // MAVLINK_COMMON_H
Note: See TracBrowser for help on using the repository browser.