From d5457c950522052a44ed5cbce028e4b5a9948049 Mon Sep 17 00:00:00 2001 From: LM Date: Mon, 19 Mar 2012 13:19:00 +0100 Subject: [PATCH] Updated documentation, re-introduced quad messages --- doc/mavlink.css | 32 +++++++++++++++++++--- doc/mavlink.php | 42 ++++++++++++++++++++--------- message_definitions/v1.0/common.xml | 16 +++++++++++ 3 files changed, 74 insertions(+), 16 deletions(-) diff --git a/doc/mavlink.css b/doc/mavlink.css index aeee8368..9c0acb33 100644 --- a/doc/mavlink.css +++ b/doc/mavlink.css @@ -1,5 +1,31 @@ +body { + font-family:'Helvetica',Arial; + font-size:90%; + margin: 80px; +} + +h1 { + margin-top: 2em; +} + +h2 { + margin-top: 1em; +} + +h3 { + margin-top: 0.8em; + font-size:150%; +} + +p.description { + font-style:italic; +} + +table { + margin-bottom: 5em; +} + table.sortable { - spacing: 5px; border: 1px solid #656575; width: 100%; } @@ -8,8 +34,8 @@ table.sortable th { margin: 5px; } -tr:nth-child(odd) { background-color:#eee; } -tr:nth-child(even) { background-color:#fff; } +#tr:nth-child(odd) { background-color:#eee; } +#tr:nth-child(even) { background-color:#fff; } table.sortable thead { background-color:#eee; diff --git a/doc/mavlink.php b/doc/mavlink.php index 871a1306..40e37bfc 100644 --- a/doc/mavlink.php +++ b/doc/mavlink.php @@ -1,4 +1,4 @@ - +loadXML($xsl); $xsltproc = new XsltProcessor(); $xsltproc->importStylesheet($xsl_doc); +?> + + + + MAVLINK Common Message set specifications + + + +

MAVLINK Common Message Set

+ +

+These messages define the common message set, which is the reference message set implemented by most ground control stations and autopilots. +

+ +transformToXML($xml_doc)) { @@ -35,19 +48,22 @@ if ($html = $xsltproc->transformToXML($xml_doc)) } else { - trigger_error('XSL transformation failed.',E_USER_ERROR); + trigger_error("XSL transformation failed",E_USER_ERROR); } - +?> +
+
-

Messages XML Definition

- -Messages are defined by the mavlink_standard_message.xml file. The C packing/unpacking code is generated from this specification, as well as the HTML documentaiton in the section above.
+

+Messages are defined by the common.xml file. The C packing/unpacking code is generated from this specification, as well as the HTML documentaiton in the section above.

The XML displayed here is updated on every commit and therefore up-to-date. - - +

+ + + \ No newline at end of file +?> \ No newline at end of file diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml index 7f7b20cf..a40bf866 100644 --- a/message_definitions/v1.0/common.xml +++ b/message_definitions/v1.0/common.xml @@ -1199,6 +1199,22 @@ Desired yaw angular speed in rad/s Collective thrust, normalized to 0 .. 1 + + Setpoint in the four motor speeds + System ID of the system that should set these motor commands + Front motor in + configuration, front left motor in x configuration + Right motor in + configuration, front right motor in x configuration + Back motor in + configuration, back right motor in x configuration + Left motor in + configuration, back left motor in x configuration + + + + System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs + Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5 + Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5 + Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5 + Collective thrust, scaled to uint16 for 6 quadrotors: 0..5 + Outputs of the APM navigation controller. The primary use of this message is to check the response and signs of the controller before actual flight and to assist with tuning controller parameters.