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ko/messages/common.md
+27 -27
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@@ -6420,29 +6420,29 @@ Loiter around this waypoint an unlimited amount of time
Loiter around this waypoint for X turns
| Param (Label) | Description | Values | Units |
| --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------ | ----- |
| 1 (Turns) | Number of turns. | min: 0 | |
| 2 (Heading Required) | Leave loiter circle only when track heads towards the next waypoint (MAV_BOOL_FALSE: Leave when turns complete). Values not equal to 0 or 1 are invalid. | [MAV_BOOL](#MAV_BOOL) | |
| 3 (Radius) | Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise | | m |
| 4 (Xtrack Location) | Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour. | | |
| 5 (Latitude) | Latitude | | |
| 6 (Longitude) | Longitude | | |
| 7 (Altitude) | Altitude | | m |
| Param (Label) | Description | Values | Units |
| --------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------ | ----- |
| 1 (Turns) | Number of turns. | min: 0 | |
| 2 (Heading Required) | Leave loiter circle only when track heads towards the next waypoint (MAV_BOOL_FALSE: Leave when turns complete). Values not equal to 0 or 1 are invalid. | [MAV_BOOL](#MAV_BOOL) | |
| 3 (Radius) | Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise | | m |
| 4 (Xtrack Location) | Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. NaN to use the current system default xtrack behaviour. | | |
| 5 (Latitude) | Latitude | | |
| 6 (Longitude) | Longitude | | |
| 7 (Altitude) | Altitude | | m |
### MAV_CMD_NAV_LOITER_TIME (19) {#MAV_CMD_NAV_LOITER_TIME}
Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.
| Param (Label) | Description | Values | Units |
| --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------ | ----- |
| 1 (Time) | Loiter time (only starts once Lat, Lon and Alt is reached). | min: 0 | s |
| 2 (Heading Required) | Leave loiter circle only when track heading towards the next waypoint (MAV_BOOL_FALSE: Leave on time expiry). Values not equal to 0 or 1 are invalid. | [MAV_BOOL](#MAV_BOOL) | |
| 3 (Radius) | Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise. | | m |
| 4 (Xtrack Location) | Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour. | | |
| 5 (Latitude) | Latitude | | |
| 6 (Longitude) | Longitude | | |
| 7 (Altitude) | Altitude | | m |
| Param (Label) | Description | Values | Units |
| --------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------ | ----- |
| 1 (Time) | Loiter time (only starts once Lat, Lon and Alt is reached). | min: 0 | s |
| 2 (Heading Required) | Leave loiter circle only when track heading towards the next waypoint (MAV_BOOL_FALSE: Leave on time expiry). Values not equal to 0 or 1 are invalid. | [MAV_BOOL](#MAV_BOOL) | |
| 3 (Radius) | Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise. | | m |
| 4 (Xtrack Location) | Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. NaN to use the current system default xtrack behaviour. | | |
| 5 (Latitude) | Latitude | | |
| 6 (Longitude) | Longitude | | |
| 7 (Altitude) | Altitude | | m |
### MAV_CMD_NAV_RETURN_TO_LAUNCH (20) {#MAV_CMD_NAV_RETURN_TO_LAUNCH}
@@ -6546,15 +6546,15 @@ Continue on the current course and climb/descend to specified altitude. When th
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.
| Param (Label) | Description | Values | Units |
| --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------- | ----- |
| 1 (Heading Required) | Leave loiter circle only when track heading towards the next waypoint (MAV_BOOL_FALSE: Leave when altitude reached). Values not equal to 0 or 1 are invalid. | [MAV_BOOL](#MAV_BOOL) | |
| 2 (Radius) | Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter. | | m |
| 3 | Empty | | |
| 4 (Xtrack Location) | Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour. | min: 0 max: 1 inc: 1 | |
| 5 (Latitude) | Latitude | | |
| 6 (Longitude) | Longitude | | |
| 7 (Altitude) | Altitude | | m |
| Param (Label) | Description | Values | Units |
| --------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------------------------------------------------------------------- | ----- |
| 1 (Heading Required) | Leave loiter circle only when track heading towards the next waypoint (MAV_BOOL_FALSE: Leave when altitude reached). Values not equal to 0 or 1 are invalid. | [MAV_BOOL](#MAV_BOOL) | |
| 2 (Radius) | Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter. | | m |
| 3 | Empty | | |
| 4 (Xtrack Location) | Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. NaN to use the current system default xtrack behaviour. | min: 0 max: 1 inc: 1 | |
| 5 (Latitude) | Latitude | | |
| 6 (Longitude) | Longitude | | |
| 7 (Altitude) | Altitude | | m |
### MAV_CMD_DO_FOLLOW (32) {#MAV_CMD_DO_FOLLOW}
ko/messages/development.md
+10 -11
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@@ -113,16 +113,16 @@ Static/invariant battery information is sent in [BATTERY_INFO](#BATTERY_INFO).
Note that smart batteries should set the [MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL](#MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL) bit to indicate that supplied capacity values are relative to a battery that is known to be full.
Power monitors would not set this bit, indicating that capacity_consumed is relative to drone power-on, and that other values are estimated based on the assumption that the battery was full on power-on.
| Field Name | Type | Units | Values | Description |
| --------------------------------------- | ---------- | ----- | -------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| id | `uint8_t` | | | Battery ID<br>[Instance field]: Uniquely identifies a device/subcomponent within a single source/target MAVLink component. |
| temperature | `int16_t` | cdegC | invalid:INT16_MAX | Temperature of the whole battery pack (not internal electronics). INT16_MAX field not provided. |
| voltage | `float` | V | invalid:NaN | Battery voltage (total). NaN: field not provided. |
| current | `float` | A | invalid:NaN | Battery current (through all cells/loads). Positive value when discharging and negative if charging. NaN: field not provided. |
| capacity_consumed | `float` | Ah | invalid:NaN | Consumed charge. NaN: field not provided. This is either the consumption since power-on or since the battery was full, depending on the value of [MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL](#MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL). |
| capacity_remaining | `float` | Ah | invalid:NaN | Remaining charge (until empty). NaN: field not provided. Note: If [MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL](#MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL) is unset, this value is based on the assumption the battery was full when the system was powered. |
| percent_remaining | `uint8_t` | % | invalid:UINT8_MAX | Remaining battery energy. Values: [0-100], UINT8_MAX: field not provided. |
| status_flags | `uint32_t` | | [MAV_BATTERY_STATUS_FLAGS](#MAV_BATTERY_STATUS_FLAGS) | Fault, health, readiness, and other status indications. |
| Field Name | Type | Units | Values | Description |
| --------------------------------------------------------- | ---------- | ----- | -------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| id | `uint8_t` | | | Battery ID<br>[Instance field]: Uniquely identifies a device/subcomponent within a single source/target MAVLink component. |
| temperature | `int16_t` | cdegC | invalid:INT16_MAX | Temperature of the whole battery pack (not internal electronics). INT16_MAX field not provided. |
| voltage | `float` | V | invalid:NaN | Battery voltage (total). NaN: field not provided. |
| current | `float` | A | invalid:NaN | Battery current (through all cells/loads). Positive value when discharging and negative if charging. NaN: field not provided. |
| capacity_consumed | `float` | Ah | invalid:NaN | Consumed charge. NaN: field not provided. This is either the consumption since power-on or since the battery was full, depending on the value of [MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL](#MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL). |
| capacity_remaining | `float` | Ah | invalid:NaN | Remaining charge (until empty). NaN: field not provided. Note: If [MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL](#MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL) is unset, this value is based on the assumption the battery was full when the system was powered. |
| state_of_charge | `float` | % | invalid:NaN | State of Charge (SoC). Remaining capacity relative to current fully-charged capacity as a percentage. Values: [0-100], NaN: field not provided. Note that the value may be calculated from design_capacity if current full_charge_capacity is not known (see [BATTERY_INFO](#BATTERY_INFO)). |
| status_flags | `uint32_t` | | [MAV_BATTERY_STATUS_FLAGS](#MAV_BATTERY_STATUS_FLAGS) | Fault, health, readiness, and other status indications. |
### GROUP_START (414) — [WIP] {#GROUP_START}
@@ -652,7 +652,6 @@ See https://mavlink.io/en/services/opendroneid.html for more information.
| 3 | | |
| 4 | Empty | |
| 5 | Empty | |
| 5 | Empty | |
| 6 | Empty | |
| 7 | Empty | |
ko/services/mission.md
+4 -10
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@@ -429,10 +429,10 @@ The remaining parameters (xtrack and heading) apply only to forward flying aircr
Xtrack and heading define the location at which a forward flying (fixed wing) vehicle will _exit the loiter circle, and its path to the next waypoint_ (these apply only to `MAV_CMD_NAV_LOITER_TIME` and `MAV_CMD_NAV_LOITER_TURNS`).
| Param (:Label) | Description | Units |
| ------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------- |
| 2: Heading Required | Leave loiter circle only once heading towards the next waypoint (0 = False) | min:0 max:1 increment:1 |
| 4: Xtrack Location | Sets xtrack path or exit location: 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour. | |
| Param (:Label) | Description | Units |
| ------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------- |
| 2: Heading Required | Leave loiter circle only once heading towards the next waypoint (0 = False) | min:0 max:1 increment:1 |
| 4: Xtrack Location | Sets xtrack path or exit location: `0` for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), `1` to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. NaN to use the current system default xtrack behaviour. | |
The recommended values (and resulting paths) are those shown below.
@@ -457,12 +457,6 @@ The Xtrack parameter independently defines the path and exit location:
- `xtrack=NaN`: Exit the loiter using "system specific default behaviour".
- The vehicle must still respect the heading required param.
- Usually this is synonymous with `xtrack=0`
- `xtrack=any other value`: Exit the loiter when the vehicle heading (tangent) makes the specified angle in degrees to the center xtrack.
Converge to the center xtrack.
The vehicle must still respect the `heading required` param (some xtrack values may not be possible with this condition true).
This allows callers to specify how quickly the vehicle converges to the center xtrack. For example, the image below shows the vehicle exiting the loiter at 30 degrees.
![Loiter angle](../../assets/protocols/mission_loiter/xtrack_30.png)
## 구현
zh/messages/common.md
+27 -27
View File
@@ -6420,29 +6420,29 @@ Loiter around this waypoint an unlimited amount of time
Loiter around this waypoint for X turns
| Param (Label) | 描述 | 值 | Units |
| --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------ | ----- |
| 1 (Turns) | Number of turns. | min: 0 | |
| 2 (Heading Required) | Leave loiter circle only when track heads towards the next waypoint (MAV_BOOL_FALSE: Leave when turns complete). Values not equal to 0 or 1 are invalid. | [MAV_BOOL](#MAV_BOOL) | |
| 3 (Radius) | Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise | | m |
| 4 (Xtrack Location) | Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour. | | |
| 5 (Latitude) | Latitude | | |
| 6 (Longitude) | Longitude | | |
| 7 (Altitude) | Altitude | | m |
| Param (Label) | 描述 | 值 | Units |
| --------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------ | ----- |
| 1 (Turns) | Number of turns. | min: 0 | |
| 2 (Heading Required) | Leave loiter circle only when track heads towards the next waypoint (MAV_BOOL_FALSE: Leave when turns complete). Values not equal to 0 or 1 are invalid. | [MAV_BOOL](#MAV_BOOL) | |
| 3 (Radius) | Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise | | m |
| 4 (Xtrack Location) | Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. NaN to use the current system default xtrack behaviour. | | |
| 5 (Latitude) | Latitude | | |
| 6 (Longitude) | Longitude | | |
| 7 (Altitude) | Altitude | | m |
### MAV_CMD_NAV_LOITER_TIME (19) {#MAV_CMD_NAV_LOITER_TIME}
Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.
| Param (Label) | 描述 | 值 | Units |
| --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------ | ----- |
| 1 (Time) | Loiter time (only starts once Lat, Lon and Alt is reached). | min: 0 | s |
| 2 (Heading Required) | Leave loiter circle only when track heading towards the next waypoint (MAV_BOOL_FALSE: Leave on time expiry). Values not equal to 0 or 1 are invalid. | [MAV_BOOL](#MAV_BOOL) | |
| 3 (Radius) | Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise. | | m |
| 4 (Xtrack Location) | Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour. | | |
| 5 (Latitude) | Latitude | | |
| 6 (Longitude) | Longitude | | |
| 7 (Altitude) | Altitude | | m |
| Param (Label) | 描述 | 值 | Units |
| --------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------ | ----- |
| 1 (Time) | Loiter time (only starts once Lat, Lon and Alt is reached). | min: 0 | s |
| 2 (Heading Required) | Leave loiter circle only when track heading towards the next waypoint (MAV_BOOL_FALSE: Leave on time expiry). Values not equal to 0 or 1 are invalid. | [MAV_BOOL](#MAV_BOOL) | |
| 3 (Radius) | Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise. | | m |
| 4 (Xtrack Location) | Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. NaN to use the current system default xtrack behaviour. | | |
| 5 (Latitude) | Latitude | | |
| 6 (Longitude) | Longitude | | |
| 7 (Altitude) | Altitude | | m |
### MAV_CMD_NAV_RETURN_TO_LAUNCH (20) {#MAV_CMD_NAV_RETURN_TO_LAUNCH}
@@ -6546,15 +6546,15 @@ Continue on the current course and climb/descend to specified altitude. When th
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.
| Param (Label) | 描述 | 值 | Units |
| --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------- | ----- |
| 1 (Heading Required) | Leave loiter circle only when track heading towards the next waypoint (MAV_BOOL_FALSE: Leave when altitude reached). Values not equal to 0 or 1 are invalid. | [MAV_BOOL](#MAV_BOOL) | |
| 2 (Radius) | Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter. | | m |
| 3 | Empty | | |
| 4 (Xtrack Location) | Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour. | min: 0 max: 1 inc: 1 | |
| 5 (Latitude) | Latitude | | |
| 6 (Longitude) | Longitude | | |
| 7 (Altitude) | Altitude | | m |
| Param (Label) | 描述 | 值 | Units |
| --------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------------------------------------------------------------------- | ----- |
| 1 (Heading Required) | Leave loiter circle only when track heading towards the next waypoint (MAV_BOOL_FALSE: Leave when altitude reached). Values not equal to 0 or 1 are invalid. | [MAV_BOOL](#MAV_BOOL) | |
| 2 (Radius) | Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter. | | m |
| 3 | Empty | | |
| 4 (Xtrack Location) | Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. NaN to use the current system default xtrack behaviour. | min: 0 max: 1 inc: 1 | |
| 5 (Latitude) | Latitude | | |
| 6 (Longitude) | Longitude | | |
| 7 (Altitude) | Altitude | | m |
### MAV_CMD_DO_FOLLOW (32) {#MAV_CMD_DO_FOLLOW}
zh/messages/development.md
+10 -11
View File
@@ -113,16 +113,16 @@ Static/invariant battery information is sent in [BATTERY_INFO](#BATTERY_INFO).
Note that smart batteries should set the [MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL](#MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL) bit to indicate that supplied capacity values are relative to a battery that is known to be full.
Power monitors would not set this bit, indicating that capacity_consumed is relative to drone power-on, and that other values are estimated based on the assumption that the battery was full on power-on.
| Field Name | Type | Units | 值 | 描述 |
| --------------------------------------- | ---------- | ----- | -------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| id | `uint8_t` | | | Battery ID<br>[Instance field]: Uniquely identifies a device/subcomponent within a single source/target MAVLink component. |
| temperature | `int16_t` | cdegC | invalid:INT16_MAX | Temperature of the whole battery pack (not internal electronics). INT16_MAX field not provided. |
| voltage | `float` | V | invalid:NaN | Battery voltage (total). NaN: field not provided. |
| current | `float` | A | invalid:NaN | Battery current (through all cells/loads). Positive value when discharging and negative if charging. NaN: field not provided. |
| capacity_consumed | `float` | Ah | invalid:NaN | Consumed charge. NaN: field not provided. This is either the consumption since power-on or since the battery was full, depending on the value of [MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL](#MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL). |
| capacity_remaining | `float` | Ah | invalid:NaN | Remaining charge (until empty). NaN: field not provided. Note: If [MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL](#MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL) is unset, this value is based on the assumption the battery was full when the system was powered. |
| percent_remaining | `uint8_t` | % | invalid:UINT8_MAX | Remaining battery energy. Values: [0-100], UINT8_MAX: field not provided. |
| status_flags | `uint32_t` | | [MAV_BATTERY_STATUS_FLAGS](#MAV_BATTERY_STATUS_FLAGS) | Fault, health, readiness, and other status indications. |
| Field Name | Type | Units | 值 | 描述 |
| --------------------------------------------------------- | ---------- | ----- | -------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| id | `uint8_t` | | | Battery ID<br>[Instance field]: Uniquely identifies a device/subcomponent within a single source/target MAVLink component. |
| temperature | `int16_t` | cdegC | invalid:INT16_MAX | Temperature of the whole battery pack (not internal electronics). INT16_MAX field not provided. |
| voltage | `float` | V | invalid:NaN | Battery voltage (total). NaN: field not provided. |
| current | `float` | A | invalid:NaN | Battery current (through all cells/loads). Positive value when discharging and negative if charging. NaN: field not provided. |
| capacity_consumed | `float` | Ah | invalid:NaN | Consumed charge. NaN: field not provided. This is either the consumption since power-on or since the battery was full, depending on the value of [MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL](#MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL). |
| capacity_remaining | `float` | Ah | invalid:NaN | Remaining charge (until empty). NaN: field not provided. Note: If [MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL](#MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL) is unset, this value is based on the assumption the battery was full when the system was powered. |
| state_of_charge | `float` | % | invalid:NaN | State of Charge (SoC). Remaining capacity relative to current fully-charged capacity as a percentage. Values: [0-100], NaN: field not provided. Note that the value may be calculated from design_capacity if current full_charge_capacity is not known (see [BATTERY_INFO](#BATTERY_INFO)). |
| status_flags | `uint32_t` | | [MAV_BATTERY_STATUS_FLAGS](#MAV_BATTERY_STATUS_FLAGS) | Fault, health, readiness, and other status indications. |
### GROUP_START (414) — [WIP] {#GROUP_START}
@@ -652,7 +652,6 @@ See https://mavlink.io/en/services/opendroneid.html for more information.
| 3 | | |
| 4 | Empty | |
| 5 | Empty | |
| 5 | Empty | |
| 6 | Empty | |
| 7 | Empty | |
zh/services/mission.md
+4 -10
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@@ -429,10 +429,10 @@ The remaining parameters (xtrack and heading) apply only to forward flying aircr
Xtrack and heading define the location at which a forward flying (fixed wing) vehicle will _exit the loiter circle, and its path to the next waypoint_ (these apply only to `MAV_CMD_NAV_LOITER_TIME` and `MAV_CMD_NAV_LOITER_TURNS`).
| Param (:Label) | 描述 | Units |
| ------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------- |
| 2: Heading Required | Leave loiter circle only once heading towards the next waypoint (0 = False) | min:0 max:1 increment:1 |
| 4: Xtrack Location | Sets xtrack path or exit location: 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour. | |
| Param (:Label) | 描述 | Units |
| ------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------- |
| 2: Heading Required | Leave loiter circle only once heading towards the next waypoint (0 = False) | min:0 max:1 increment:1 |
| 4: Xtrack Location | Sets xtrack path or exit location: `0` for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), `1` to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. NaN to use the current system default xtrack behaviour. | |
The recommended values (and resulting paths) are those shown below.
@@ -457,12 +457,6 @@ The Xtrack parameter independently defines the path and exit location:
- `xtrack=NaN`: Exit the loiter using "system specific default behaviour".
- The vehicle must still respect the heading required param.
- Usually this is synonymous with `xtrack=0`
- `xtrack=any other value`: Exit the loiter when the vehicle heading (tangent) makes the specified angle in degrees to the center xtrack.
Converge to the center xtrack.
The vehicle must still respect the `heading required` param (some xtrack values may not be possible with this condition true).
This allows callers to specify how quickly the vehicle converges to the center xtrack. For example, the image below shows the vehicle exiting the loiter at 30 degrees.
![Loiter angle](../../assets/protocols/mission_loiter/xtrack_30.png)
## Implementations