MAVLink Include Files: common.xml
Available autopilot modes for ualberta uav
| Value | Field Name | Description |
|---|---|---|
| MODE_MANUAL_DIRECT | Raw input pulse widts sent to output | |
| MODE_MANUAL_SCALED | Inputs are normalized using calibration, the converted back to raw pulse widths for output | |
| MODE_AUTO_PID_ATT | dfsdfs | |
| MODE_AUTO_PID_VEL | dfsfds | |
| MODE_AUTO_PID_POS | dfsdfsdfs |
Navigation filter mode
| Value | Field Name | Description |
|---|---|---|
| NAV_AHRS_INIT | ||
| NAV_AHRS | AHRS mode | |
| NAV_INS_GPS_INIT | INS/GPS initialization mode | |
| NAV_INS_GPS | INS/GPS mode |
Mode currently commanded by pilot
| Value | Field Name | Description |
|---|---|---|
| PILOT_MANUAL | sdf | |
| PILOT_AUTO | dfs | |
| PILOT_ROTO | Rotomotion mode |
Accelerometer and Gyro biases from the navigation filter
| Field Name | Type | Description |
|---|---|---|
| usec | uint64_t | Timestamp (microseconds) |
| accel_0 | float | b_f[0] |
| accel_1 | float | b_f[1] |
| accel_2 | float | b_f[2] |
| gyro_0 | float | b_f[0] |
| gyro_1 | float | b_f[1] |
| gyro_2 | float | b_f[2] |
Complete set of calibration parameters for the radio
| Field Name | Type | Description |
|---|---|---|
| aileron | uint16_t[3] | Aileron setpoints: left, center, right |
| elevator | uint16_t[3] | Elevator setpoints: nose down, center, nose up |
| rudder | uint16_t[3] | Rudder setpoints: nose left, center, nose right |
| gyro | uint16_t[2] | Tail gyro mode/gain setpoints: heading hold, rate mode |
| pitch | uint16_t[5] | Pitch curve setpoints (every 25%) |
| throttle | uint16_t[5] | Throttle curve setpoints (every 25%) |
System status specific to ualberta uav
| Field Name | Type | Description |
|---|---|---|
| mode | uint8_t | System mode, see UALBERTA_AUTOPILOT_MODE ENUM |
| nav_mode | uint8_t | Navigation mode, see UALBERTA_NAV_MODE ENUM |
| pilot | uint8_t | Pilot mode, see UALBERTA_PILOT_MODE |