mirror of
https://github.com/mavlink/mavlink-devguide.git
synced 2026-06-19 07:36:26 +00:00
Hamish Willee
283 lines
5.7 KiB
HTML
283 lines
5.7 KiB
HTML
<html>
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<body>
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<p>
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<strong>MAVLink Include Files:</strong>
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<a href="common.md">common.xml</a>
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</p>
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<h2>MAVLink Type Enumerations</h2>
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<h3 id="UALBERTA_AUTOPILOT_MODE">
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<a href="#UALBERTA_AUTOPILOT_MODE">UALBERTA_AUTOPILOT_MODE</a>
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</h3>
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<p>Available autopilot modes for ualberta uav</p>
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<table class="sortable">
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<thead>
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<tr>
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<th>Value</th>
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<th>Field Name</th>
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<th>Description</th>
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</tr>
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</thead>
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<tbody>
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<tr id="MODE_MANUAL_DIRECT">
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<td>
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</td>
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<td>
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<a href="#MODE_MANUAL_DIRECT">MODE_MANUAL_DIRECT</a>
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</td>
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<td>Raw input pulse widts sent to output</td>
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</tr>
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<tr id="MODE_MANUAL_SCALED">
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<td>
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</td>
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<td>
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<a href="#MODE_MANUAL_SCALED">MODE_MANUAL_SCALED</a>
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</td>
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<td>Inputs are normalized using calibration, the converted back to raw pulse widths for output</td>
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</tr>
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<tr id="MODE_AUTO_PID_ATT">
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<td>
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</td>
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<td>
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<a href="#MODE_AUTO_PID_ATT">MODE_AUTO_PID_ATT</a>
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</td>
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<td>dfsdfs</td>
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</tr>
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<tr id="MODE_AUTO_PID_VEL">
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<td>
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</td>
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<td>
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<a href="#MODE_AUTO_PID_VEL">MODE_AUTO_PID_VEL</a>
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</td>
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<td>dfsfds</td>
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</tr>
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<tr id="MODE_AUTO_PID_POS">
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<td>
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</td>
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<td>
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<a href="#MODE_AUTO_PID_POS">MODE_AUTO_PID_POS</a>
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</td>
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<td>dfsdfsdfs</td>
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</tr>
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</tbody>
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</table>
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<h3 id="UALBERTA_NAV_MODE">
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<a href="#UALBERTA_NAV_MODE">UALBERTA_NAV_MODE</a>
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</h3>
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<p>Navigation filter mode</p>
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<table class="sortable">
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<thead>
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<tr>
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<th>Value</th>
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<th>Field Name</th>
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<th>Description</th>
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</tr>
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</thead>
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<tbody>
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<tr id="NAV_AHRS_INIT">
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<td>
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</td>
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<td>
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<a href="#NAV_AHRS_INIT">NAV_AHRS_INIT</a>
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</td>
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<td>
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</td>
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</tr>
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<tr id="NAV_AHRS">
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<td>
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</td>
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<td>
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<a href="#NAV_AHRS">NAV_AHRS</a>
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</td>
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<td>AHRS mode</td>
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</tr>
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<tr id="NAV_INS_GPS_INIT">
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<td>
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</td>
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<td>
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<a href="#NAV_INS_GPS_INIT">NAV_INS_GPS_INIT</a>
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</td>
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<td>INS/GPS initialization mode</td>
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</tr>
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<tr id="NAV_INS_GPS">
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<td>
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</td>
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<td>
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<a href="#NAV_INS_GPS">NAV_INS_GPS</a>
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</td>
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<td>INS/GPS mode</td>
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</tr>
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</tbody>
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</table>
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<h3 id="UALBERTA_PILOT_MODE">
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<a href="#UALBERTA_PILOT_MODE">UALBERTA_PILOT_MODE</a>
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</h3>
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<p>Mode currently commanded by pilot</p>
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<table class="sortable">
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<thead>
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<tr>
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<th>Value</th>
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<th>Field Name</th>
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<th>Description</th>
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</tr>
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</thead>
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<tbody>
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<tr id="PILOT_MANUAL">
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<td>
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</td>
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<td>
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<a href="#PILOT_MANUAL">PILOT_MANUAL</a>
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</td>
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<td>sdf</td>
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</tr>
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<tr id="PILOT_AUTO">
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<td>
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</td>
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<td>
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<a href="#PILOT_AUTO">PILOT_AUTO</a>
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</td>
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<td>dfs</td>
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</tr>
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<tr id="PILOT_ROTO">
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<td>
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</td>
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<td>
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<a href="#PILOT_ROTO">PILOT_ROTO</a>
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</td>
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<td>Rotomotion mode</td>
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</tr>
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</tbody>
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</table>
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<h2>MAVLink Messages</h2>
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<h3 id="NAV_FILTER_BIAS">NAV_FILTER_BIAS (<a href="#NAV_FILTER_BIAS">
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#220
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</a>
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)
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</h3>
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<p>Accelerometer and Gyro biases from the navigation filter</p>
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<table class="sortable">
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<thead>
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<tr>
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<th>Field Name</th>
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<th>Type</th>
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<th>Description</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td>usec</td>
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<td>uint64_t</td>
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<td>Timestamp (microseconds)</td>
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</tr>
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<tr>
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<td>accel_0</td>
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<td>float</td>
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<td>b_f[0]</td>
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</tr>
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<tr>
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<td>accel_1</td>
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<td>float</td>
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<td>b_f[1]</td>
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</tr>
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<tr>
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<td>accel_2</td>
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<td>float</td>
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<td>b_f[2]</td>
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</tr>
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<tr>
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<td>gyro_0</td>
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<td>float</td>
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<td>b_f[0]</td>
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</tr>
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<tr>
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<td>gyro_1</td>
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<td>float</td>
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<td>b_f[1]</td>
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</tr>
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<tr>
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<td>gyro_2</td>
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<td>float</td>
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<td>b_f[2]</td>
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</tr>
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</tbody>
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</table>
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<h3 id="RADIO_CALIBRATION">RADIO_CALIBRATION (<a href="#RADIO_CALIBRATION">
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#221
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</a>
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)
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</h3>
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<p>Complete set of calibration parameters for the radio</p>
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<table class="sortable">
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<thead>
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<tr>
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<th>Field Name</th>
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<th>Type</th>
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<th>Description</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td>aileron</td>
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<td>uint16_t[3]</td>
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<td>Aileron setpoints: left, center, right</td>
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</tr>
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<tr>
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<td>elevator</td>
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<td>uint16_t[3]</td>
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<td>Elevator setpoints: nose down, center, nose up</td>
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</tr>
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<tr>
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<td>rudder</td>
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<td>uint16_t[3]</td>
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<td>Rudder setpoints: nose left, center, nose right</td>
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</tr>
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<tr>
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<td>gyro</td>
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<td>uint16_t[2]</td>
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<td>Tail gyro mode/gain setpoints: heading hold, rate mode</td>
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</tr>
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<tr>
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<td>pitch</td>
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<td>uint16_t[5]</td>
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<td>Pitch curve setpoints (every 25%)</td>
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</tr>
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<tr>
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<td>throttle</td>
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<td>uint16_t[5]</td>
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<td>Throttle curve setpoints (every 25%)</td>
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</tr>
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</tbody>
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</table>
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<h3 id="UALBERTA_SYS_STATUS">UALBERTA_SYS_STATUS (<a href="#UALBERTA_SYS_STATUS">
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#222
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</a>
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)
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</h3>
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<p>System status specific to ualberta uav</p>
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<table class="sortable">
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<thead>
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<tr>
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<th>Field Name</th>
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<th>Type</th>
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<th>Description</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td>mode</td>
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<td>uint8_t</td>
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<td>System mode, see UALBERTA_AUTOPILOT_MODE ENUM</td>
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</tr>
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<tr>
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<td>nav_mode</td>
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<td>uint8_t</td>
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<td>Navigation mode, see UALBERTA_NAV_MODE ENUM</td>
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</tr>
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<tr>
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<td>pilot</td>
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<td>uint8_t</td>
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<td>Pilot mode, see UALBERTA_PILOT_MODE</td>
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</tr>
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</tbody>
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</table>
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</body>
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</html> |