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patrickelectric/mavlink2rest_new_output_wip.json

Last active March 13, 2021 13:27
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mavlink2rest_new_output_wip.json
{
"vehicles": [
{
"id": 1,
"components": [
{
"id": 1,
"messages": {
"RANGEFINDER": {
"type": "RANGEFINDER",
"distance": 49.809998,
"voltage": 4.11
},
"MEMINFO": {
"type": "MEMINFO",
"brkval": 0,
"freemem": 65535
},
"GLOBAL_POSITION_INT": {
"type": "common",
"type": "GLOBAL_POSITION_INT",
"time_boot_ms": 7762945,
"lat": -353632619,
"lon": 1491652372,
"alt": 583770,
"relative_alt": -45,
"vx": 2,
"vy": -2,
"vz": 0,
"hdg": 35600
},
"MISSION_CURRENT": {
"type": "common",
"type": "MISSION_CURRENT",
"seq": 0
},
"BATTERY_STATUS": {
"type": "common",
"type": "BATTERY_STATUS",
"current_consumed": 22,
"energy_consumed": 7,
"temperature": 32767,
"voltages": [
12587,
65535,
65535,
65535,
65535,
65535,
65535,
65535,
65535,
65535
],
"current_battery": 0,
"id": 0,
"battery_function": {
"type": "MAV_BATTERY_FUNCTION_UNKNOWN"
},
"mavtype": {
"type": "MAV_BATTERY_TYPE_UNKNOWN"
},
"battery_remaining": 99
},
"DISTANCE_SENSOR": {
"type": "common",
"type": "DISTANCE_SENSOR",
"time_boot_ms": 7762945,
"min_distance": 20,
"max_distance": 3000,
"current_distance": 4981,
"mavtype": {
"type": "MAV_DISTANCE_SENSOR_UNKNOWN"
},
"id": 0,
"orientation": {
"type": "MAV_SENSOR_ROTATION_PITCH_270"
},
"covariance": 0
},
"SCALED_PRESSURE": {
"type": "common",
"type": "SCALED_PRESSURE",
"time_boot_ms": 7762945,
"press_abs": -57632.45,
"press_diff": 20.13475,
"temperature": -27940
},
"SCALED_PRESSURE3": {
"type": "common",
"type": "SCALED_PRESSURE3",
"time_boot_ms": 7762945,
"press_abs": 0.0,
"press_diff": 0.0,
"temperature": 2650
},
"SIMSTATE": {
"type": "SIMSTATE",
"roll": 0.0,
"pitch": 0.0,
"yaw": -0.12217313,
"xacc": 0.0,
"yacc": 0.0,
"zacc": -9.808285,
"xgyro": 0.0,
"ygyro": 0.0,
"zgyro": 0.0,
"lat": -353632621,
"lng": 1491652374
},
"HEARTBEAT": {
"type": "common",
"type": "HEARTBEAT",
"custom_mode": 19,
"mavtype": {
"type": "MAV_TYPE_SUBMARINE"
},
"autopilot": {
"type": "MAV_AUTOPILOT_ARDUPILOTMEGA"
},
"base_mode": {
"bits": 81
},
"system_status": {
"type": "MAV_STATE_STANDBY"
},
"mavlink_version": 3
},
"SYS_STATUS": {
"type": "common",
"type": "SYS_STATUS",
"onboard_control_sensors_present": {
"bits": 321977647
},
"onboard_control_sensors_enabled": {
"bits": 304127279
},
"onboard_control_sensors_health": {
"bits": 321953071
},
"load": 0,
"voltage_battery": 12587,
"current_battery": 0,
"drop_rate_comm": 0,
"errors_comm": 0,
"errors_count1": 0,
"errors_count2": 0,
"errors_count3": 0,
"errors_count4": 0,
"battery_remaining": 99
},
"TIMESYNC": {
"type": "common",
"type": "TIMESYNC",
"tc1": 0,
"ts1": 7761585790001
},
"SENSOR_OFFSETS": {
"type": "SENSOR_OFFSETS",
"mag_declination": 0.2076333,
"raw_press": -5761659,
"raw_temp": 37576,
"gyro_cal_x": 0.0,
"gyro_cal_y": 0.0,
"gyro_cal_z": 0.0,
"accel_cal_x": 0.001,
"accel_cal_y": 0.001,
"accel_cal_z": 0.001,
"mag_ofs_x": 5,
"mag_ofs_y": 13,
"mag_ofs_z": -18
},
"MOUNT_STATUS": {
"type": "MOUNT_STATUS",
"pointing_a": 0,
"pointing_b": 0,
"pointing_c": 0,
"target_system": 0,
"target_component": 0
},
"POWER_STATUS": {
"type": "common",
"type": "POWER_STATUS",
"Vcc": 5000,
"Vservo": 0,
"flags": {
"bits": 0
}
},
"SCALED_IMU3": {
"type": "common",
"type": "SCALED_IMU3",
"time_boot_ms": 7762945,
"xacc": 0,
"yacc": 0,
"zacc": 0,
"xgyro": 0,
"ygyro": 0,
"zgyro": 0,
"xmag": 215,
"ymag": 73,
"zmag": -538
},
"NAMED_VALUE_FLOAT": {
"type": "common",
"type": "NAMED_VALUE_FLOAT",
"time_boot_ms": 7762945,
"value": 0.0,
"name": [
"R",
"o",
"l",
"l",
"P",
"i",
"t",
"c",
"h",
"\u0000"
]
},
"EKF_STATUS_REPORT": {
"type": "EKF_STATUS_REPORT",
"velocity_variance": 0.007204194,
"pos_horiz_variance": 0.008119657,
"pos_vert_variance": 0.0061672325,
"compass_variance": 0.013230225,
"terrain_alt_variance": 0.0,
"flags": {
"bits": 831
}
},
"HWSTATUS": {
"type": "HWSTATUS",
"Vcc": 5000,
"I2Cerr": 0
},
"SCALED_PRESSURE2": {
"type": "common",
"type": "SCALED_PRESSURE2",
"time_boot_ms": 7762945,
"press_abs": -57609.41,
"press_diff": 0.0,
"temperature": -27969
},
"RC_CHANNELS": {
"type": "common",
"type": "RC_CHANNELS",
"time_boot_ms": 7762945,
"chan1_raw": 1500,
"chan2_raw": 1500,
"chan3_raw": 1500,
"chan4_raw": 1500,
"chan5_raw": 1500,
"chan6_raw": 1500,
"chan7_raw": 1500,
"chan8_raw": 1500,
"chan9_raw": 0,
"chan10_raw": 0,
"chan11_raw": 0,
"chan12_raw": 0,
"chan13_raw": 0,
"chan14_raw": 0,
"chan15_raw": 0,
"chan16_raw": 0,
"chan17_raw": 0,
"chan18_raw": 0,
"chancount": 16,
"rssi": 0
},
"NAV_CONTROLLER_OUTPUT": {
"type": "common",
"type": "NAV_CONTROLLER_OUTPUT",
"nav_roll": -1.5571427,
"nav_pitch": -0.9687855,
"alt_error": 0.00501726,
"aspd_error": 0.0,
"xtrack_error": 0.0,
"nav_bearing": -4,
"target_bearing": 131,
"wp_dist": 0
},
"VIBRATION": {
"type": "common",
"type": "VIBRATION",
"time_usec": 7762945246,
"vibration_x": 0.0026072536,
"vibration_y": 0.002832434,
"vibration_z": 0.0028318693,
"clipping_0": 0,
"clipping_1": 0,
"clipping_2": 0
},
"AHRS2": {
"type": "AHRS2",
"roll": -0.0015924602,
"pitch": -0.0017747751,
"yaw": -0.11870646,
"altitude": 583.82,
"lat": -353632621,
"lng": 1491652374
},
"SERVO_OUTPUT_RAW": {
"type": "common",
"type": "SERVO_OUTPUT_RAW",
"time_usec": 3467977950,
"servo1_raw": 1500,
"servo2_raw": 1500,
"servo3_raw": 1500,
"servo4_raw": 1500,
"servo5_raw": 1500,
"servo6_raw": 1500,
"servo7_raw": 0,
"servo8_raw": 1500,
"port": 0
},
"RAW_IMU": {
"type": "common",
"type": "RAW_IMU",
"time_usec": 7762945246,
"xacc": 0,
"yacc": 0,
"zacc": -1001,
"xgyro": 0,
"ygyro": 0,
"zgyro": 0,
"xmag": 215,
"ymag": 73,
"zmag": -538
},
"SCALED_IMU2": {
"type": "common",
"type": "SCALED_IMU2",
"time_boot_ms": 7762945,
"xacc": 0,
"yacc": 0,
"zacc": -1001,
"xgyro": 0,
"ygyro": 0,
"zgyro": 0,
"xmag": 215,
"ymag": 73,
"zmag": -538
},
"AHRS": {
"type": "AHRS",
"omegaIx": -0.0007783103,
"omegaIy": -0.00081199565,
"omegaIz": -0.0012867856,
"accel_weight": 0.0,
"renorm_val": 0.0,
"error_rp": 0.002318653,
"error_yaw": 0.0014251816
},
"GPS_RAW_INT": {
"type": "common",
"type": "GPS_RAW_INT",
"time_usec": 7762783000,
"lat": -353632621,
"lon": 1491652374,
"alt": 583860,
"eph": 121,
"epv": 200,
"vel": 0,
"cog": 0,
"fix_type": {
"type": "GPS_FIX_TYPE_RTK_FIXED"
},
"satellites_visible": 10
},
"ATTITUDE": {
"type": "common",
"type": "ATTITUDE",
"time_boot_ms": 7762945,
"roll": -0.02717727,
"pitch": -0.016908498,
"yaw": -0.06996718,
"rollspeed": -0.00023225084,
"pitchspeed": -0.00026250194,
"yawspeed": -0.00075323996
},
"SYSTEM_TIME": {
"type": "common",
"type": "SYSTEM_TIME",
"time_unix_usec": 1615642056921790,
"time_boot_ms": 7762945
},
"VFR_HUD": {
"type": "common",
"type": "VFR_HUD",
"airspeed": 0.0,
"groundspeed": 0.03390592,
"alt": 583.76996,
"climb": -0.003457196,
"heading": 356,
"throttle": 0
},
"LOCAL_POSITION_NED": {
"type": "common",
"type": "LOCAL_POSITION_NED",
"time_boot_ms": 7762945,
"x": 0.0232263,
"y": -0.026117206,
"z": 0.0050172606,
"vx": 0.022597473,
"vy": -0.02527777,
"vz": 0.003457196
}
}
}
]
}
]
}
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