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April 2, 2013 16:33
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MAVLink for Ardupilot
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| ''' | |
| MAVLink protocol implementation (auto-generated by mavgen.py) | |
| Generated from: ardupilotmega.xml,common.xml | |
| Note: this file has been auto-generated. DO NOT EDIT | |
| ''' | |
| import struct, array, mavutil, time, json | |
| WIRE_PROTOCOL_VERSION = "1.0" | |
| # some base types from mavlink_types.h | |
| MAVLINK_TYPE_CHAR = 0 | |
| MAVLINK_TYPE_UINT8_T = 1 | |
| MAVLINK_TYPE_INT8_T = 2 | |
| MAVLINK_TYPE_UINT16_T = 3 | |
| MAVLINK_TYPE_INT16_T = 4 | |
| MAVLINK_TYPE_UINT32_T = 5 | |
| MAVLINK_TYPE_INT32_T = 6 | |
| MAVLINK_TYPE_UINT64_T = 7 | |
| MAVLINK_TYPE_INT64_T = 8 | |
| MAVLINK_TYPE_FLOAT = 9 | |
| MAVLINK_TYPE_DOUBLE = 10 | |
| class MAVLink_header(object): | |
| '''MAVLink message header''' | |
| def __init__(self, msgId, mlen=0, seq=0, srcSystem=0, srcComponent=0): | |
| self.mlen = mlen | |
| self.seq = seq | |
| self.srcSystem = srcSystem | |
| self.srcComponent = srcComponent | |
| self.msgId = msgId | |
| def pack(self): | |
| return struct.pack('BBBBBB', 254, self.mlen, self.seq, | |
| self.srcSystem, self.srcComponent, self.msgId) | |
| class MAVLink_message(object): | |
| '''base MAVLink message class''' | |
| def __init__(self, msgId, name): | |
| self._header = MAVLink_header(msgId) | |
| self._payload = None | |
| self._msgbuf = None | |
| self._crc = None | |
| self._fieldnames = [] | |
| self._type = name | |
| def get_msgbuf(self): | |
| if isinstance(self._msgbuf, str): | |
| return self._msgbuf | |
| return self._msgbuf.tostring() | |
| def get_header(self): | |
| return self._header | |
| def get_payload(self): | |
| return self._payload | |
| def get_crc(self): | |
| return self._crc | |
| def get_fieldnames(self): | |
| return self._fieldnames | |
| def get_type(self): | |
| return self._type | |
| def get_msgId(self): | |
| return self._header.msgId | |
| def get_srcSystem(self): | |
| return self._header.srcSystem | |
| def get_srcComponent(self): | |
| return self._header.srcComponent | |
| def get_seq(self): | |
| return self._header.seq | |
| def __str__(self): | |
| ret = '%s {' % self._type | |
| for a in self._fieldnames: | |
| v = getattr(self, a) | |
| ret += '%s : %s, ' % (a, v) | |
| ret = ret[0:-2] + '}' | |
| return ret | |
| def to_dict(self): | |
| d = dict({}) | |
| d['mavpackettype'] = self._type | |
| for a in self._fieldnames: | |
| d[a] = getattr(self, a) | |
| return d | |
| def to_json(self): | |
| return json.dumps(self.to_dict()) | |
| def pack(self, mav, crc_extra, payload): | |
| self._payload = payload | |
| self._header = MAVLink_header(self._header.msgId, len(payload), mav.seq, | |
| mav.srcSystem, mav.srcComponent) | |
| self._msgbuf = self._header.pack() + payload | |
| crc = mavutil.x25crc(self._msgbuf[1:]) | |
| if True: # using CRC extra | |
| crc.accumulate(chr(crc_extra)) | |
| self._crc = crc.crc | |
| self._msgbuf += struct.pack('<H', self._crc) | |
| return self._msgbuf | |
| # enums | |
| # MAV_MOUNT_MODE | |
| MAV_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop | |
| # stabilization | |
| MAV_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM. | |
| MAV_MOUNT_MODE_MAVLINK_TARGETING = 2 # Load neutral position and start MAVLink Roll,Pitch,Yaw control with | |
| # stabilization | |
| MAV_MOUNT_MODE_RC_TARGETING = 3 # Load neutral position and start RC Roll,Pitch,Yaw control with | |
| # stabilization | |
| MAV_MOUNT_MODE_GPS_POINT = 4 # Load neutral position and start to point to Lat,Lon,Alt | |
| MAV_MOUNT_MODE_ENUM_END = 5 # | |
| # MAV_CMD | |
| MAV_CMD_NAV_WAYPOINT = 16 # Navigate to MISSION. | |
| MAV_CMD_NAV_LOITER_UNLIM = 17 # Loiter around this MISSION an unlimited amount of time | |
| MAV_CMD_NAV_LOITER_TURNS = 18 # Loiter around this MISSION for X turns | |
| MAV_CMD_NAV_LOITER_TIME = 19 # Loiter around this MISSION for X seconds | |
| MAV_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location | |
| MAV_CMD_NAV_LAND = 21 # Land at location | |
| MAV_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand | |
| MAV_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle | |
| # itself. This can then be used by the | |
| # vehicles control system to control the | |
| # vehicle attitude and the attitude of various | |
| # sensors such as cameras. | |
| MAV_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. | |
| MAV_CMD_NAV_LAST = 95 # NOP - This command is only used to mark the upper limit of the | |
| # NAV/ACTION commands in the enumeration | |
| MAV_CMD_CONDITION_DELAY = 112 # Delay mission state machine. | |
| MAV_CMD_CONDITION_CHANGE_ALT = 113 # Ascend/descend at rate. Delay mission state machine until desired | |
| # altitude reached. | |
| MAV_CMD_CONDITION_DISTANCE = 114 # Delay mission state machine until within desired distance of next NAV | |
| # point. | |
| MAV_CMD_CONDITION_YAW = 115 # Reach a certain target angle. | |
| MAV_CMD_CONDITION_LAST = 159 # NOP - This command is only used to mark the upper limit of the | |
| # CONDITION commands in the enumeration | |
| MAV_CMD_DO_SET_MODE = 176 # Set system mode. | |
| MAV_CMD_DO_JUMP = 177 # Jump to the desired command in the mission list. Repeat this action | |
| # only the specified number of times | |
| MAV_CMD_DO_CHANGE_SPEED = 178 # Change speed and/or throttle set points. | |
| MAV_CMD_DO_SET_HOME = 179 # Changes the home location either to the current location or a | |
| # specified location. | |
| MAV_CMD_DO_SET_PARAMETER = 180 # Set a system parameter. Caution! Use of this command requires | |
| # knowledge of the numeric enumeration value | |
| # of the parameter. | |
| MAV_CMD_DO_SET_RELAY = 181 # Set a relay to a condition. | |
| MAV_CMD_DO_REPEAT_RELAY = 182 # Cycle a relay on and off for a desired number of cyles with a desired | |
| # period. | |
| MAV_CMD_DO_SET_SERVO = 183 # Set a servo to a desired PWM value. | |
| MAV_CMD_DO_REPEAT_SERVO = 184 # Cycle a between its nominal setting and a desired PWM for a desired | |
| # number of cycles with a desired period. | |
| MAV_CMD_DO_CONTROL_VIDEO = 200 # Control onboard camera system. | |
| MAV_CMD_DO_DIGICAM_CONFIGURE = 202 # Mission command to configure an on-board camera controller system. | |
| MAV_CMD_DO_DIGICAM_CONTROL = 203 # Mission command to control an on-board camera controller system. | |
| MAV_CMD_DO_MOUNT_CONFIGURE = 204 # Mission command to configure a camera or antenna mount | |
| MAV_CMD_DO_MOUNT_CONTROL = 205 # Mission command to control a camera or antenna mount | |
| MAV_CMD_DO_LAST = 240 # NOP - This command is only used to mark the upper limit of the DO | |
| # commands in the enumeration | |
| MAV_CMD_PREFLIGHT_CALIBRATION = 241 # Trigger calibration. This command will be only accepted if in pre- | |
| # flight mode. | |
| MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242 # Set sensor offsets. This command will be only accepted if in pre- | |
| # flight mode. | |
| MAV_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command | |
| # will be only accepted if in pre-flight mode. | |
| MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246 # Request the reboot or shutdown of system components. | |
| MAV_CMD_OVERRIDE_GOTO = 252 # Hold / continue the current action | |
| MAV_CMD_MISSION_START = 300 # start running a mission | |
| MAV_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component | |
| MAV_CMD_ENUM_END = 401 # | |
| # FENCE_ACTION | |
| FENCE_ACTION_NONE = 0 # Disable fenced mode | |
| FENCE_ACTION_GUIDED = 1 # Switched to guided mode to return point (fence point 0) | |
| FENCE_ACTION_REPORT = 2 # Report fence breach, but don't take action | |
| FENCE_ACTION_ENUM_END = 3 # | |
| # FENCE_BREACH | |
| FENCE_BREACH_NONE = 0 # No last fence breach | |
| FENCE_BREACH_MINALT = 1 # Breached minimum altitude | |
| FENCE_BREACH_MAXALT = 2 # Breached minimum altitude | |
| FENCE_BREACH_BOUNDARY = 3 # Breached fence boundary | |
| FENCE_BREACH_ENUM_END = 4 # | |
| # LIMITS_STATE | |
| LIMITS_INIT = 0 # pre-initialization | |
| LIMITS_DISABLED = 1 # disabled | |
| LIMITS_ENABLED = 2 # checking limits | |
| LIMITS_TRIGGERED = 3 # a limit has been breached | |
| LIMITS_RECOVERING = 4 # taking action eg. RTL | |
| LIMITS_RECOVERED = 5 # we're no longer in breach of a limit | |
| LIMITS_STATE_ENUM_END = 6 # | |
| # LIMIT_MODULE | |
| LIMIT_GPSLOCK = 1 # pre-initialization | |
| LIMIT_GEOFENCE = 2 # disabled | |
| LIMIT_ALTITUDE = 4 # checking limits | |
| LIMIT_MODULE_ENUM_END = 5 # | |
| # MAV_AUTOPILOT | |
| MAV_AUTOPILOT_GENERIC = 0 # Generic autopilot, full support for everything | |
| MAV_AUTOPILOT_PIXHAWK = 1 # PIXHAWK autopilot, http://pixhawk.ethz.ch | |
| MAV_AUTOPILOT_SLUGS = 2 # SLUGS autopilot, http://slugsuav.soe.ucsc.edu | |
| MAV_AUTOPILOT_ARDUPILOTMEGA = 3 # ArduPilotMega / ArduCopter, http://diydrones.com | |
| MAV_AUTOPILOT_OPENPILOT = 4 # OpenPilot, http://openpilot.org | |
| MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY = 5 # Generic autopilot only supporting simple waypoints | |
| MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY = 6 # Generic autopilot supporting waypoints and other simple navigation | |
| # commands | |
| MAV_AUTOPILOT_GENERIC_MISSION_FULL = 7 # Generic autopilot supporting the full mission command set | |
| MAV_AUTOPILOT_INVALID = 8 # No valid autopilot, e.g. a GCS or other MAVLink component | |
| MAV_AUTOPILOT_PPZ = 9 # PPZ UAV - http://nongnu.org/paparazzi | |
| MAV_AUTOPILOT_UDB = 10 # UAV Dev Board | |
| MAV_AUTOPILOT_FP = 11 # FlexiPilot | |
| MAV_AUTOPILOT_PX4 = 12 # PX4 Autopilot - http://pixhawk.ethz.ch/px4/ | |
| MAV_AUTOPILOT_SMACCMPILOT = 13 # SMACCMPilot - http://smaccmpilot.org | |
| MAV_AUTOPILOT_ENUM_END = 14 # | |
| # MAV_TYPE | |
| MAV_TYPE_GENERIC = 0 # Generic micro air vehicle. | |
| MAV_TYPE_FIXED_WING = 1 # Fixed wing aircraft. | |
| MAV_TYPE_QUADROTOR = 2 # Quadrotor | |
| MAV_TYPE_COAXIAL = 3 # Coaxial helicopter | |
| MAV_TYPE_HELICOPTER = 4 # Normal helicopter with tail rotor. | |
| MAV_TYPE_ANTENNA_TRACKER = 5 # Ground installation | |
| MAV_TYPE_GCS = 6 # Operator control unit / ground control station | |
| MAV_TYPE_AIRSHIP = 7 # Airship, controlled | |
| MAV_TYPE_FREE_BALLOON = 8 # Free balloon, uncontrolled | |
| MAV_TYPE_ROCKET = 9 # Rocket | |
| MAV_TYPE_GROUND_ROVER = 10 # Ground rover | |
| MAV_TYPE_SURFACE_BOAT = 11 # Surface vessel, boat, ship | |
| MAV_TYPE_SUBMARINE = 12 # Submarine | |
| MAV_TYPE_HEXAROTOR = 13 # Hexarotor | |
| MAV_TYPE_OCTOROTOR = 14 # Octorotor | |
| MAV_TYPE_TRICOPTER = 15 # Octorotor | |
| MAV_TYPE_FLAPPING_WING = 16 # Flapping wing | |
| MAV_TYPE_KITE = 17 # Flapping wing | |
| MAV_TYPE_ENUM_END = 18 # | |
| # MAV_MODE_FLAG | |
| MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1 # 0b00000001 Reserved for future use. | |
| MAV_MODE_FLAG_TEST_ENABLED = 2 # 0b00000010 system has a test mode enabled. This flag is intended for | |
| # temporary system tests and should not be | |
| # used for stable implementations. | |
| MAV_MODE_FLAG_AUTO_ENABLED = 4 # 0b00000100 autonomous mode enabled, system finds its own goal | |
| # positions. Guided flag can be set or not, | |
| # depends on the actual implementation. | |
| MAV_MODE_FLAG_GUIDED_ENABLED = 8 # 0b00001000 guided mode enabled, system flies MISSIONs / mission items. | |
| MAV_MODE_FLAG_STABILIZE_ENABLED = 16 # 0b00010000 system stabilizes electronically its attitude (and | |
| # optionally position). It needs however | |
| # further control inputs to move around. | |
| MAV_MODE_FLAG_HIL_ENABLED = 32 # 0b00100000 hardware in the loop simulation. All motors / actuators are | |
| # blocked, but internal software is full | |
| # operational. | |
| MAV_MODE_FLAG_MANUAL_INPUT_ENABLED = 64 # 0b01000000 remote control input is enabled. | |
| MAV_MODE_FLAG_SAFETY_ARMED = 128 # 0b10000000 MAV safety set to armed. Motors are enabled / running / can | |
| # start. Ready to fly. | |
| MAV_MODE_FLAG_ENUM_END = 129 # | |
| # MAV_MODE_FLAG_DECODE_POSITION | |
| MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE = 1 # Eighth bit: 00000001 | |
| MAV_MODE_FLAG_DECODE_POSITION_TEST = 2 # Seventh bit: 00000010 | |
| MAV_MODE_FLAG_DECODE_POSITION_AUTO = 4 # Sixt bit: 00000100 | |
| MAV_MODE_FLAG_DECODE_POSITION_GUIDED = 8 # Fifth bit: 00001000 | |
| MAV_MODE_FLAG_DECODE_POSITION_STABILIZE = 16 # Fourth bit: 00010000 | |
| MAV_MODE_FLAG_DECODE_POSITION_HIL = 32 # Third bit: 00100000 | |
| MAV_MODE_FLAG_DECODE_POSITION_MANUAL = 64 # Second bit: 01000000 | |
| MAV_MODE_FLAG_DECODE_POSITION_SAFETY = 128 # First bit: 10000000 | |
| MAV_MODE_FLAG_DECODE_POSITION_ENUM_END = 129 # | |
| # MAV_GOTO | |
| MAV_GOTO_DO_HOLD = 0 # Hold at the current position. | |
| MAV_GOTO_DO_CONTINUE = 1 # Continue with the next item in mission execution. | |
| MAV_GOTO_HOLD_AT_CURRENT_POSITION = 2 # Hold at the current position of the system | |
| MAV_GOTO_HOLD_AT_SPECIFIED_POSITION = 3 # Hold at the position specified in the parameters of the DO_HOLD action | |
| MAV_GOTO_ENUM_END = 4 # | |
| # MAV_MODE | |
| MAV_MODE_PREFLIGHT = 0 # System is not ready to fly, booting, calibrating, etc. No flag is set. | |
| MAV_MODE_MANUAL_DISARMED = 64 # System is allowed to be active, under manual (RC) control, no | |
| # stabilization | |
| MAV_MODE_TEST_DISARMED = 66 # UNDEFINED mode. This solely depends on the autopilot - use with | |
| # caution, intended for developers only. | |
| MAV_MODE_STABILIZE_DISARMED = 80 # System is allowed to be active, under assisted RC control. | |
| MAV_MODE_GUIDED_DISARMED = 88 # System is allowed to be active, under autonomous control, manual | |
| # setpoint | |
| MAV_MODE_AUTO_DISARMED = 92 # System is allowed to be active, under autonomous control and | |
| # navigation (the trajectory is decided | |
| # onboard and not pre-programmed by MISSIONs) | |
| MAV_MODE_MANUAL_ARMED = 192 # System is allowed to be active, under manual (RC) control, no | |
| # stabilization | |
| MAV_MODE_TEST_ARMED = 194 # UNDEFINED mode. This solely depends on the autopilot - use with | |
| # caution, intended for developers only. | |
| MAV_MODE_STABILIZE_ARMED = 208 # System is allowed to be active, under assisted RC control. | |
| MAV_MODE_GUIDED_ARMED = 216 # System is allowed to be active, under autonomous control, manual | |
| # setpoint | |
| MAV_MODE_AUTO_ARMED = 220 # System is allowed to be active, under autonomous control and | |
| # navigation (the trajectory is decided | |
| # onboard and not pre-programmed by MISSIONs) | |
| MAV_MODE_ENUM_END = 221 # | |
| # MAV_STATE | |
| MAV_STATE_UNINIT = 0 # Uninitialized system, state is unknown. | |
| MAV_STATE_BOOT = 1 # System is booting up. | |
| MAV_STATE_CALIBRATING = 2 # System is calibrating and not flight-ready. | |
| MAV_STATE_STANDBY = 3 # System is grounded and on standby. It can be launched any time. | |
| MAV_STATE_ACTIVE = 4 # System is active and might be already airborne. Motors are engaged. | |
| MAV_STATE_CRITICAL = 5 # System is in a non-normal flight mode. It can however still navigate. | |
| MAV_STATE_EMERGENCY = 6 # System is in a non-normal flight mode. It lost control over parts or | |
| # over the whole airframe. It is in mayday and | |
| # going down. | |
| MAV_STATE_POWEROFF = 7 # System just initialized its power-down sequence, will shut down now. | |
| MAV_STATE_ENUM_END = 8 # | |
| # MAV_COMPONENT | |
| MAV_COMP_ID_ALL = 0 # | |
| MAV_COMP_ID_CAMERA = 100 # | |
| MAV_COMP_ID_SERVO1 = 140 # | |
| MAV_COMP_ID_SERVO2 = 141 # | |
| MAV_COMP_ID_SERVO3 = 142 # | |
| MAV_COMP_ID_SERVO4 = 143 # | |
| MAV_COMP_ID_SERVO5 = 144 # | |
| MAV_COMP_ID_SERVO6 = 145 # | |
| MAV_COMP_ID_SERVO7 = 146 # | |
| MAV_COMP_ID_SERVO8 = 147 # | |
| MAV_COMP_ID_SERVO9 = 148 # | |
| MAV_COMP_ID_SERVO10 = 149 # | |
| MAV_COMP_ID_SERVO11 = 150 # | |
| MAV_COMP_ID_SERVO12 = 151 # | |
| MAV_COMP_ID_SERVO13 = 152 # | |
| MAV_COMP_ID_SERVO14 = 153 # | |
| MAV_COMP_ID_MAPPER = 180 # | |
| MAV_COMP_ID_MISSIONPLANNER = 190 # | |
| MAV_COMP_ID_PATHPLANNER = 195 # | |
| MAV_COMP_ID_IMU = 200 # | |
| MAV_COMP_ID_IMU_2 = 201 # | |
| MAV_COMP_ID_IMU_3 = 202 # | |
| MAV_COMP_ID_GPS = 220 # | |
| MAV_COMP_ID_UDP_BRIDGE = 240 # | |
| MAV_COMP_ID_UART_BRIDGE = 241 # | |
| MAV_COMP_ID_SYSTEM_CONTROL = 250 # | |
| MAV_COMPONENT_ENUM_END = 251 # | |
| # MAV_FRAME | |
| MAV_FRAME_GLOBAL = 0 # Global coordinate frame, WGS84 coordinate system. First value / x: | |
| # latitude, second value / y: longitude, third | |
| # value / z: positive altitude over mean sea | |
| # level (MSL) | |
| MAV_FRAME_LOCAL_NED = 1 # Local coordinate frame, Z-up (x: north, y: east, z: down). | |
| MAV_FRAME_MISSION = 2 # NOT a coordinate frame, indicates a mission command. | |
| MAV_FRAME_GLOBAL_RELATIVE_ALT = 3 # Global coordinate frame, WGS84 coordinate system, relative altitude | |
| # over ground with respect to the home | |
| # position. First value / x: latitude, second | |
| # value / y: longitude, third value / z: | |
| # positive altitude with 0 being at the | |
| # altitude of the home location. | |
| MAV_FRAME_LOCAL_ENU = 4 # Local coordinate frame, Z-down (x: east, y: north, z: up) | |
| MAV_FRAME_ENUM_END = 5 # | |
| # MAVLINK_DATA_STREAM_TYPE | |
| MAVLINK_DATA_STREAM_IMG_JPEG = 1 # | |
| MAVLINK_DATA_STREAM_IMG_BMP = 2 # | |
| MAVLINK_DATA_STREAM_IMG_RAW8U = 3 # | |
| MAVLINK_DATA_STREAM_IMG_RAW32U = 4 # | |
| MAVLINK_DATA_STREAM_IMG_PGM = 5 # | |
| MAVLINK_DATA_STREAM_IMG_PNG = 6 # | |
| MAVLINK_DATA_STREAM_TYPE_ENUM_END = 7 # | |
| # MAV_DATA_STREAM | |
| MAV_DATA_STREAM_ALL = 0 # Enable all data streams | |
| MAV_DATA_STREAM_RAW_SENSORS = 1 # Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. | |
| MAV_DATA_STREAM_EXTENDED_STATUS = 2 # Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS | |
| MAV_DATA_STREAM_RC_CHANNELS = 3 # Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW | |
| MAV_DATA_STREAM_RAW_CONTROLLER = 4 # Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, | |
| # NAV_CONTROLLER_OUTPUT. | |
| MAV_DATA_STREAM_POSITION = 6 # Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. | |
| MAV_DATA_STREAM_EXTRA1 = 10 # Dependent on the autopilot | |
| MAV_DATA_STREAM_EXTRA2 = 11 # Dependent on the autopilot | |
| MAV_DATA_STREAM_EXTRA3 = 12 # Dependent on the autopilot | |
| MAV_DATA_STREAM_ENUM_END = 13 # | |
| # MAV_ROI | |
| MAV_ROI_NONE = 0 # No region of interest. | |
| MAV_ROI_WPNEXT = 1 # Point toward next MISSION. | |
| MAV_ROI_WPINDEX = 2 # Point toward given MISSION. | |
| MAV_ROI_LOCATION = 3 # Point toward fixed location. | |
| MAV_ROI_TARGET = 4 # Point toward of given id. | |
| MAV_ROI_ENUM_END = 5 # | |
| # MAV_CMD_ACK | |
| MAV_CMD_ACK_OK = 1 # Command / mission item is ok. | |
| MAV_CMD_ACK_ERR_FAIL = 2 # Generic error message if none of the other reasons fails or if no | |
| # detailed error reporting is implemented. | |
| MAV_CMD_ACK_ERR_ACCESS_DENIED = 3 # The system is refusing to accept this command from this source / | |
| # communication partner. | |
| MAV_CMD_ACK_ERR_NOT_SUPPORTED = 4 # Command or mission item is not supported, other commands would be | |
| # accepted. | |
| MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTED = 5 # The coordinate frame of this command / mission item is not supported. | |
| MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGE = 6 # The coordinate frame of this command is ok, but he coordinate values | |
| # exceed the safety limits of this system. | |
| # This is a generic error, please use the more | |
| # specific error messages below if possible. | |
| MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE = 7 # The X or latitude value is out of range. | |
| MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE = 8 # The Y or longitude value is out of range. | |
| MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE = 9 # The Z or altitude value is out of range. | |
| MAV_CMD_ACK_ENUM_END = 10 # | |
| # MAV_PARAM_TYPE | |
| MAV_PARAM_TYPE_UINT8 = 1 # 8-bit unsigned integer | |
| MAV_PARAM_TYPE_INT8 = 2 # 8-bit signed integer | |
| MAV_PARAM_TYPE_UINT16 = 3 # 16-bit unsigned integer | |
| MAV_PARAM_TYPE_INT16 = 4 # 16-bit signed integer | |
| MAV_PARAM_TYPE_UINT32 = 5 # 32-bit unsigned integer | |
| MAV_PARAM_TYPE_INT32 = 6 # 32-bit signed integer | |
| MAV_PARAM_TYPE_UINT64 = 7 # 64-bit unsigned integer | |
| MAV_PARAM_TYPE_INT64 = 8 # 64-bit signed integer | |
| MAV_PARAM_TYPE_REAL32 = 9 # 32-bit floating-point | |
| MAV_PARAM_TYPE_REAL64 = 10 # 64-bit floating-point | |
| MAV_PARAM_TYPE_ENUM_END = 11 # | |
| # MAV_RESULT | |
| MAV_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED | |
| MAV_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED | |
| MAV_RESULT_DENIED = 2 # Command PERMANENTLY DENIED | |
| MAV_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED | |
| MAV_RESULT_FAILED = 4 # Command executed, but failed | |
| MAV_RESULT_ENUM_END = 5 # | |
| # MAV_MISSION_RESULT | |
| MAV_MISSION_ACCEPTED = 0 # mission accepted OK | |
| MAV_MISSION_ERROR = 1 # generic error / not accepting mission commands at all right now | |
| MAV_MISSION_UNSUPPORTED_FRAME = 2 # coordinate frame is not supported | |
| MAV_MISSION_UNSUPPORTED = 3 # command is not supported | |
| MAV_MISSION_NO_SPACE = 4 # mission item exceeds storage space | |
| MAV_MISSION_INVALID = 5 # one of the parameters has an invalid value | |
| MAV_MISSION_INVALID_PARAM1 = 6 # param1 has an invalid value | |
| MAV_MISSION_INVALID_PARAM2 = 7 # param2 has an invalid value | |
| MAV_MISSION_INVALID_PARAM3 = 8 # param3 has an invalid value | |
| MAV_MISSION_INVALID_PARAM4 = 9 # param4 has an invalid value | |
| MAV_MISSION_INVALID_PARAM5_X = 10 # x/param5 has an invalid value | |
| MAV_MISSION_INVALID_PARAM6_Y = 11 # y/param6 has an invalid value | |
| MAV_MISSION_INVALID_PARAM7 = 12 # param7 has an invalid value | |
| MAV_MISSION_INVALID_SEQUENCE = 13 # received waypoint out of sequence | |
| MAV_MISSION_DENIED = 14 # not accepting any mission commands from this communication partner | |
| MAV_MISSION_RESULT_ENUM_END = 15 # | |
| # MAV_SEVERITY | |
| MAV_SEVERITY_EMERGENCY = 0 # System is unusable. This is a "panic" condition. | |
| MAV_SEVERITY_ALERT = 1 # Action should be taken immediately. Indicates error in non-critical | |
| # systems. | |
| MAV_SEVERITY_CRITICAL = 2 # Action must be taken immediately. Indicates failure in a primary | |
| # system. | |
| MAV_SEVERITY_ERROR = 3 # Indicates an error in secondary/redundant systems. | |
| MAV_SEVERITY_WARNING = 4 # Indicates about a possible future error if this is not resolved within | |
| # a given timeframe. Example would be a low | |
| # battery warning. | |
| MAV_SEVERITY_NOTICE = 5 # An unusual event has occured, though not an error condition. This | |
| # should be investigated for the root cause. | |
| MAV_SEVERITY_INFO = 6 # Normal operational messages. Useful for logging. No action is required | |
| # for these messages. | |
| MAV_SEVERITY_DEBUG = 7 # Useful non-operational messages that can assist in debugging. These | |
| # should not occur during normal operation. | |
| MAV_SEVERITY_ENUM_END = 8 # | |
| # message IDs | |
| MAVLINK_MSG_ID_BAD_DATA = -1 | |
| MAVLINK_MSG_ID_SENSOR_OFFSETS = 150 | |
| MAVLINK_MSG_ID_SET_MAG_OFFSETS = 151 | |
| MAVLINK_MSG_ID_MEMINFO = 152 | |
| MAVLINK_MSG_ID_AP_ADC = 153 | |
| MAVLINK_MSG_ID_DIGICAM_CONFIGURE = 154 | |
| MAVLINK_MSG_ID_DIGICAM_CONTROL = 155 | |
| MAVLINK_MSG_ID_MOUNT_CONFIGURE = 156 | |
| MAVLINK_MSG_ID_MOUNT_CONTROL = 157 | |
| MAVLINK_MSG_ID_MOUNT_STATUS = 158 | |
| MAVLINK_MSG_ID_FENCE_POINT = 160 | |
| MAVLINK_MSG_ID_FENCE_FETCH_POINT = 161 | |
| MAVLINK_MSG_ID_FENCE_STATUS = 162 | |
| MAVLINK_MSG_ID_AHRS = 163 | |
| MAVLINK_MSG_ID_SIMSTATE = 164 | |
| MAVLINK_MSG_ID_HWSTATUS = 165 | |
| MAVLINK_MSG_ID_RADIO = 166 | |
| MAVLINK_MSG_ID_LIMITS_STATUS = 167 | |
| MAVLINK_MSG_ID_WIND = 168 | |
| MAVLINK_MSG_ID_DATA16 = 169 | |
| MAVLINK_MSG_ID_DATA32 = 170 | |
| MAVLINK_MSG_ID_DATA64 = 171 | |
| MAVLINK_MSG_ID_DATA96 = 172 | |
| MAVLINK_MSG_ID_RANGEFINDER = 173 | |
| MAVLINK_MSG_ID_HEARTBEAT = 0 | |
| MAVLINK_MSG_ID_SYS_STATUS = 1 | |
| MAVLINK_MSG_ID_SYSTEM_TIME = 2 | |
| MAVLINK_MSG_ID_PING = 4 | |
| MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL = 5 | |
| MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK = 6 | |
| MAVLINK_MSG_ID_AUTH_KEY = 7 | |
| MAVLINK_MSG_ID_SET_MODE = 11 | |
| MAVLINK_MSG_ID_PARAM_REQUEST_READ = 20 | |
| MAVLINK_MSG_ID_PARAM_REQUEST_LIST = 21 | |
| MAVLINK_MSG_ID_PARAM_VALUE = 22 | |
| MAVLINK_MSG_ID_PARAM_SET = 23 | |
| MAVLINK_MSG_ID_GPS_RAW_INT = 24 | |
| MAVLINK_MSG_ID_GPS_STATUS = 25 | |
| MAVLINK_MSG_ID_SCALED_IMU = 26 | |
| MAVLINK_MSG_ID_RAW_IMU = 27 | |
| MAVLINK_MSG_ID_RAW_PRESSURE = 28 | |
| MAVLINK_MSG_ID_SCALED_PRESSURE = 29 | |
| MAVLINK_MSG_ID_ATTITUDE = 30 | |
| MAVLINK_MSG_ID_ATTITUDE_QUATERNION = 31 | |
| MAVLINK_MSG_ID_LOCAL_POSITION_NED = 32 | |
| MAVLINK_MSG_ID_GLOBAL_POSITION_INT = 33 | |
| MAVLINK_MSG_ID_RC_CHANNELS_SCALED = 34 | |
| MAVLINK_MSG_ID_RC_CHANNELS_RAW = 35 | |
| MAVLINK_MSG_ID_SERVO_OUTPUT_RAW = 36 | |
| MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST = 37 | |
| MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST = 38 | |
| MAVLINK_MSG_ID_MISSION_ITEM = 39 | |
| MAVLINK_MSG_ID_MISSION_REQUEST = 40 | |
| MAVLINK_MSG_ID_MISSION_SET_CURRENT = 41 | |
| MAVLINK_MSG_ID_MISSION_CURRENT = 42 | |
| MAVLINK_MSG_ID_MISSION_REQUEST_LIST = 43 | |
| MAVLINK_MSG_ID_MISSION_COUNT = 44 | |
| MAVLINK_MSG_ID_MISSION_CLEAR_ALL = 45 | |
| MAVLINK_MSG_ID_MISSION_ITEM_REACHED = 46 | |
| MAVLINK_MSG_ID_MISSION_ACK = 47 | |
| MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN = 48 | |
| MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN = 49 | |
| MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT = 50 | |
| MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT = 51 | |
| MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT = 52 | |
| MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT = 53 | |
| MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA = 54 | |
| MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA = 55 | |
| MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST = 56 | |
| MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST = 57 | |
| MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT = 58 | |
| MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT = 59 | |
| MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT = 60 | |
| MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST = 61 | |
| MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT = 62 | |
| MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST = 63 | |
| MAVLINK_MSG_ID_STATE_CORRECTION = 64 | |
| MAVLINK_MSG_ID_REQUEST_DATA_STREAM = 66 | |
| MAVLINK_MSG_ID_DATA_STREAM = 67 | |
| MAVLINK_MSG_ID_MANUAL_CONTROL = 69 | |
| MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE = 70 | |
| MAVLINK_MSG_ID_VFR_HUD = 74 | |
| MAVLINK_MSG_ID_COMMAND_LONG = 76 | |
| MAVLINK_MSG_ID_COMMAND_ACK = 77 | |
| MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT = 80 | |
| MAVLINK_MSG_ID_MANUAL_SETPOINT = 81 | |
| MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET = 89 | |
| MAVLINK_MSG_ID_HIL_STATE = 90 | |
| MAVLINK_MSG_ID_HIL_CONTROLS = 91 | |
| MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW = 92 | |
| MAVLINK_MSG_ID_OPTICAL_FLOW = 100 | |
| MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE = 101 | |
| MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE = 102 | |
| MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE = 103 | |
| MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE = 104 | |
| MAVLINK_MSG_ID_HIGHRES_IMU = 105 | |
| MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW = 106 | |
| MAVLINK_MSG_ID_FILE_TRANSFER_START = 110 | |
| MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST = 111 | |
| MAVLINK_MSG_ID_FILE_TRANSFER_RES = 112 | |
| MAVLINK_MSG_ID_BATTERY_STATUS = 147 | |
| MAVLINK_MSG_ID_SETPOINT_8DOF = 148 | |
| MAVLINK_MSG_ID_SETPOINT_6DOF = 149 | |
| MAVLINK_MSG_ID_MEMORY_VECT = 249 | |
| MAVLINK_MSG_ID_DEBUG_VECT = 250 | |
| MAVLINK_MSG_ID_NAMED_VALUE_FLOAT = 251 | |
| MAVLINK_MSG_ID_NAMED_VALUE_INT = 252 | |
| MAVLINK_MSG_ID_STATUSTEXT = 253 | |
| MAVLINK_MSG_ID_DEBUG = 254 | |
| class MAVLink_sensor_offsets_message(MAVLink_message): | |
| ''' | |
| Offsets and calibrations values for hardware sensors. | |
| This makes it easier to debug the calibration process. | |
| ''' | |
| def __init__(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SENSOR_OFFSETS, 'SENSOR_OFFSETS') | |
| self._fieldnames = ['mag_ofs_x', 'mag_ofs_y', 'mag_ofs_z', 'mag_declination', 'raw_press', 'raw_temp', 'gyro_cal_x', 'gyro_cal_y', 'gyro_cal_z', 'accel_cal_x', 'accel_cal_y', 'accel_cal_z'] | |
| self.mag_ofs_x = mag_ofs_x | |
| self.mag_ofs_y = mag_ofs_y | |
| self.mag_ofs_z = mag_ofs_z | |
| self.mag_declination = mag_declination | |
| self.raw_press = raw_press | |
| self.raw_temp = raw_temp | |
| self.gyro_cal_x = gyro_cal_x | |
| self.gyro_cal_y = gyro_cal_y | |
| self.gyro_cal_z = gyro_cal_z | |
| self.accel_cal_x = accel_cal_x | |
| self.accel_cal_y = accel_cal_y | |
| self.accel_cal_z = accel_cal_z | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 134, struct.pack('<fiiffffffhhh', self.mag_declination, self.raw_press, self.raw_temp, self.gyro_cal_x, self.gyro_cal_y, self.gyro_cal_z, self.accel_cal_x, self.accel_cal_y, self.accel_cal_z, self.mag_ofs_x, self.mag_ofs_y, self.mag_ofs_z)) | |
| class MAVLink_set_mag_offsets_message(MAVLink_message): | |
| ''' | |
| set the magnetometer offsets | |
| ''' | |
| def __init__(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_MAG_OFFSETS, 'SET_MAG_OFFSETS') | |
| self._fieldnames = ['target_system', 'target_component', 'mag_ofs_x', 'mag_ofs_y', 'mag_ofs_z'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.mag_ofs_x = mag_ofs_x | |
| self.mag_ofs_y = mag_ofs_y | |
| self.mag_ofs_z = mag_ofs_z | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 219, struct.pack('<hhhBB', self.mag_ofs_x, self.mag_ofs_y, self.mag_ofs_z, self.target_system, self.target_component)) | |
| class MAVLink_meminfo_message(MAVLink_message): | |
| ''' | |
| state of APM memory | |
| ''' | |
| def __init__(self, brkval, freemem): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MEMINFO, 'MEMINFO') | |
| self._fieldnames = ['brkval', 'freemem'] | |
| self.brkval = brkval | |
| self.freemem = freemem | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 208, struct.pack('<HH', self.brkval, self.freemem)) | |
| class MAVLink_ap_adc_message(MAVLink_message): | |
| ''' | |
| raw ADC output | |
| ''' | |
| def __init__(self, adc1, adc2, adc3, adc4, adc5, adc6): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_AP_ADC, 'AP_ADC') | |
| self._fieldnames = ['adc1', 'adc2', 'adc3', 'adc4', 'adc5', 'adc6'] | |
| self.adc1 = adc1 | |
| self.adc2 = adc2 | |
| self.adc3 = adc3 | |
| self.adc4 = adc4 | |
| self.adc5 = adc5 | |
| self.adc6 = adc6 | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 188, struct.pack('<HHHHHH', self.adc1, self.adc2, self.adc3, self.adc4, self.adc5, self.adc6)) | |
| class MAVLink_digicam_configure_message(MAVLink_message): | |
| ''' | |
| Configure on-board Camera Control System. | |
| ''' | |
| def __init__(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, 'DIGICAM_CONFIGURE') | |
| self._fieldnames = ['target_system', 'target_component', 'mode', 'shutter_speed', 'aperture', 'iso', 'exposure_type', 'command_id', 'engine_cut_off', 'extra_param', 'extra_value'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.mode = mode | |
| self.shutter_speed = shutter_speed | |
| self.aperture = aperture | |
| self.iso = iso | |
| self.exposure_type = exposure_type | |
| self.command_id = command_id | |
| self.engine_cut_off = engine_cut_off | |
| self.extra_param = extra_param | |
| self.extra_value = extra_value | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 84, struct.pack('<fHBBBBBBBBB', self.extra_value, self.shutter_speed, self.target_system, self.target_component, self.mode, self.aperture, self.iso, self.exposure_type, self.command_id, self.engine_cut_off, self.extra_param)) | |
| class MAVLink_digicam_control_message(MAVLink_message): | |
| ''' | |
| Control on-board Camera Control System to take shots. | |
| ''' | |
| def __init__(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_DIGICAM_CONTROL, 'DIGICAM_CONTROL') | |
| self._fieldnames = ['target_system', 'target_component', 'session', 'zoom_pos', 'zoom_step', 'focus_lock', 'shot', 'command_id', 'extra_param', 'extra_value'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.session = session | |
| self.zoom_pos = zoom_pos | |
| self.zoom_step = zoom_step | |
| self.focus_lock = focus_lock | |
| self.shot = shot | |
| self.command_id = command_id | |
| self.extra_param = extra_param | |
| self.extra_value = extra_value | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 22, struct.pack('<fBBBBbBBBB', self.extra_value, self.target_system, self.target_component, self.session, self.zoom_pos, self.zoom_step, self.focus_lock, self.shot, self.command_id, self.extra_param)) | |
| class MAVLink_mount_configure_message(MAVLink_message): | |
| ''' | |
| Message to configure a camera mount, directional antenna, etc. | |
| ''' | |
| def __init__(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_CONFIGURE, 'MOUNT_CONFIGURE') | |
| self._fieldnames = ['target_system', 'target_component', 'mount_mode', 'stab_roll', 'stab_pitch', 'stab_yaw'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.mount_mode = mount_mode | |
| self.stab_roll = stab_roll | |
| self.stab_pitch = stab_pitch | |
| self.stab_yaw = stab_yaw | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 19, struct.pack('<BBBBBB', self.target_system, self.target_component, self.mount_mode, self.stab_roll, self.stab_pitch, self.stab_yaw)) | |
| class MAVLink_mount_control_message(MAVLink_message): | |
| ''' | |
| Message to control a camera mount, directional antenna, etc. | |
| ''' | |
| def __init__(self, target_system, target_component, input_a, input_b, input_c, save_position): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_CONTROL, 'MOUNT_CONTROL') | |
| self._fieldnames = ['target_system', 'target_component', 'input_a', 'input_b', 'input_c', 'save_position'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.input_a = input_a | |
| self.input_b = input_b | |
| self.input_c = input_c | |
| self.save_position = save_position | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 21, struct.pack('<iiiBBB', self.input_a, self.input_b, self.input_c, self.target_system, self.target_component, self.save_position)) | |
| class MAVLink_mount_status_message(MAVLink_message): | |
| ''' | |
| Message with some status from APM to GCS about camera or | |
| antenna mount | |
| ''' | |
| def __init__(self, target_system, target_component, pointing_a, pointing_b, pointing_c): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_STATUS, 'MOUNT_STATUS') | |
| self._fieldnames = ['target_system', 'target_component', 'pointing_a', 'pointing_b', 'pointing_c'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.pointing_a = pointing_a | |
| self.pointing_b = pointing_b | |
| self.pointing_c = pointing_c | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 134, struct.pack('<iiiBB', self.pointing_a, self.pointing_b, self.pointing_c, self.target_system, self.target_component)) | |
| class MAVLink_fence_point_message(MAVLink_message): | |
| ''' | |
| A fence point. Used to set a point when from GCS | |
| -> MAV. Also used to return a point from MAV -> GCS | |
| ''' | |
| def __init__(self, target_system, target_component, idx, count, lat, lng): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_POINT, 'FENCE_POINT') | |
| self._fieldnames = ['target_system', 'target_component', 'idx', 'count', 'lat', 'lng'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.idx = idx | |
| self.count = count | |
| self.lat = lat | |
| self.lng = lng | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 78, struct.pack('<ffBBBB', self.lat, self.lng, self.target_system, self.target_component, self.idx, self.count)) | |
| class MAVLink_fence_fetch_point_message(MAVLink_message): | |
| ''' | |
| Request a current fence point from MAV | |
| ''' | |
| def __init__(self, target_system, target_component, idx): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_FETCH_POINT, 'FENCE_FETCH_POINT') | |
| self._fieldnames = ['target_system', 'target_component', 'idx'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.idx = idx | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 68, struct.pack('<BBB', self.target_system, self.target_component, self.idx)) | |
| class MAVLink_fence_status_message(MAVLink_message): | |
| ''' | |
| Status of geo-fencing. Sent in extended status | |
| stream when fencing enabled | |
| ''' | |
| def __init__(self, breach_status, breach_count, breach_type, breach_time): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_STATUS, 'FENCE_STATUS') | |
| self._fieldnames = ['breach_status', 'breach_count', 'breach_type', 'breach_time'] | |
| self.breach_status = breach_status | |
| self.breach_count = breach_count | |
| self.breach_type = breach_type | |
| self.breach_time = breach_time | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 189, struct.pack('<IHBB', self.breach_time, self.breach_count, self.breach_status, self.breach_type)) | |
| class MAVLink_ahrs_message(MAVLink_message): | |
| ''' | |
| Status of DCM attitude estimator | |
| ''' | |
| def __init__(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_AHRS, 'AHRS') | |
| self._fieldnames = ['omegaIx', 'omegaIy', 'omegaIz', 'accel_weight', 'renorm_val', 'error_rp', 'error_yaw'] | |
| self.omegaIx = omegaIx | |
| self.omegaIy = omegaIy | |
| self.omegaIz = omegaIz | |
| self.accel_weight = accel_weight | |
| self.renorm_val = renorm_val | |
| self.error_rp = error_rp | |
| self.error_yaw = error_yaw | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 127, struct.pack('<fffffff', self.omegaIx, self.omegaIy, self.omegaIz, self.accel_weight, self.renorm_val, self.error_rp, self.error_yaw)) | |
| class MAVLink_simstate_message(MAVLink_message): | |
| ''' | |
| Status of simulation environment, if used | |
| ''' | |
| def __init__(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro, lat, lng): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SIMSTATE, 'SIMSTATE') | |
| self._fieldnames = ['roll', 'pitch', 'yaw', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'lat', 'lng'] | |
| self.roll = roll | |
| self.pitch = pitch | |
| self.yaw = yaw | |
| self.xacc = xacc | |
| self.yacc = yacc | |
| self.zacc = zacc | |
| self.xgyro = xgyro | |
| self.ygyro = ygyro | |
| self.zgyro = zgyro | |
| self.lat = lat | |
| self.lng = lng | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 111, struct.pack('<fffffffffff', self.roll, self.pitch, self.yaw, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.lat, self.lng)) | |
| class MAVLink_hwstatus_message(MAVLink_message): | |
| ''' | |
| Status of key hardware | |
| ''' | |
| def __init__(self, Vcc, I2Cerr): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_HWSTATUS, 'HWSTATUS') | |
| self._fieldnames = ['Vcc', 'I2Cerr'] | |
| self.Vcc = Vcc | |
| self.I2Cerr = I2Cerr | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 21, struct.pack('<HB', self.Vcc, self.I2Cerr)) | |
| class MAVLink_radio_message(MAVLink_message): | |
| ''' | |
| Status generated by radio | |
| ''' | |
| def __init__(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_RADIO, 'RADIO') | |
| self._fieldnames = ['rssi', 'remrssi', 'txbuf', 'noise', 'remnoise', 'rxerrors', 'fixed'] | |
| self.rssi = rssi | |
| self.remrssi = remrssi | |
| self.txbuf = txbuf | |
| self.noise = noise | |
| self.remnoise = remnoise | |
| self.rxerrors = rxerrors | |
| self.fixed = fixed | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 21, struct.pack('<HHBBBBB', self.rxerrors, self.fixed, self.rssi, self.remrssi, self.txbuf, self.noise, self.remnoise)) | |
| class MAVLink_limits_status_message(MAVLink_message): | |
| ''' | |
| Status of AP_Limits. Sent in extended status | |
| stream when AP_Limits is enabled | |
| ''' | |
| def __init__(self, limits_state, last_trigger, last_action, last_recovery, last_clear, breach_count, mods_enabled, mods_required, mods_triggered): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_LIMITS_STATUS, 'LIMITS_STATUS') | |
| self._fieldnames = ['limits_state', 'last_trigger', 'last_action', 'last_recovery', 'last_clear', 'breach_count', 'mods_enabled', 'mods_required', 'mods_triggered'] | |
| self.limits_state = limits_state | |
| self.last_trigger = last_trigger | |
| self.last_action = last_action | |
| self.last_recovery = last_recovery | |
| self.last_clear = last_clear | |
| self.breach_count = breach_count | |
| self.mods_enabled = mods_enabled | |
| self.mods_required = mods_required | |
| self.mods_triggered = mods_triggered | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 144, struct.pack('<IIIIHBBBB', self.last_trigger, self.last_action, self.last_recovery, self.last_clear, self.breach_count, self.limits_state, self.mods_enabled, self.mods_required, self.mods_triggered)) | |
| class MAVLink_wind_message(MAVLink_message): | |
| ''' | |
| Wind estimation | |
| ''' | |
| def __init__(self, direction, speed, speed_z): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_WIND, 'WIND') | |
| self._fieldnames = ['direction', 'speed', 'speed_z'] | |
| self.direction = direction | |
| self.speed = speed | |
| self.speed_z = speed_z | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 1, struct.pack('<fff', self.direction, self.speed, self.speed_z)) | |
| class MAVLink_data16_message(MAVLink_message): | |
| ''' | |
| Data packet, size 16 | |
| ''' | |
| def __init__(self, type, len, data): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_DATA16, 'DATA16') | |
| self._fieldnames = ['type', 'len', 'data'] | |
| self.type = type | |
| self.len = len | |
| self.data = data | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 234, struct.pack('<BB16s', self.type, self.len, self.data)) | |
| class MAVLink_data32_message(MAVLink_message): | |
| ''' | |
| Data packet, size 32 | |
| ''' | |
| def __init__(self, type, len, data): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_DATA32, 'DATA32') | |
| self._fieldnames = ['type', 'len', 'data'] | |
| self.type = type | |
| self.len = len | |
| self.data = data | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 73, struct.pack('<BB32s', self.type, self.len, self.data)) | |
| class MAVLink_data64_message(MAVLink_message): | |
| ''' | |
| Data packet, size 64 | |
| ''' | |
| def __init__(self, type, len, data): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_DATA64, 'DATA64') | |
| self._fieldnames = ['type', 'len', 'data'] | |
| self.type = type | |
| self.len = len | |
| self.data = data | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 181, struct.pack('<BB64s', self.type, self.len, self.data)) | |
| class MAVLink_data96_message(MAVLink_message): | |
| ''' | |
| Data packet, size 96 | |
| ''' | |
| def __init__(self, type, len, data): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_DATA96, 'DATA96') | |
| self._fieldnames = ['type', 'len', 'data'] | |
| self.type = type | |
| self.len = len | |
| self.data = data | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 22, struct.pack('<BB96s', self.type, self.len, self.data)) | |
| class MAVLink_rangefinder_message(MAVLink_message): | |
| ''' | |
| Rangefinder reporting | |
| ''' | |
| def __init__(self, distance, voltage): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_RANGEFINDER, 'RANGEFINDER') | |
| self._fieldnames = ['distance', 'voltage'] | |
| self.distance = distance | |
| self.voltage = voltage | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 83, struct.pack('<ff', self.distance, self.voltage)) | |
| class MAVLink_heartbeat_message(MAVLink_message): | |
| ''' | |
| The heartbeat message shows that a system is present and | |
| responding. The type of the MAV and Autopilot hardware allow | |
| the receiving system to treat further messages from this | |
| system appropriate (e.g. by laying out the user interface | |
| based on the autopilot). | |
| ''' | |
| def __init__(self, type, autopilot, base_mode, custom_mode, system_status, mavlink_version): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_HEARTBEAT, 'HEARTBEAT') | |
| self._fieldnames = ['type', 'autopilot', 'base_mode', 'custom_mode', 'system_status', 'mavlink_version'] | |
| self.type = type | |
| self.autopilot = autopilot | |
| self.base_mode = base_mode | |
| self.custom_mode = custom_mode | |
| self.system_status = system_status | |
| self.mavlink_version = mavlink_version | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 50, struct.pack('<IBBBBB', self.custom_mode, self.type, self.autopilot, self.base_mode, self.system_status, self.mavlink_version)) | |
| class MAVLink_sys_status_message(MAVLink_message): | |
| ''' | |
| The general system state. If the system is following the | |
| MAVLink standard, the system state is mainly defined by three | |
| orthogonal states/modes: The system mode, which is either | |
| LOCKED (motors shut down and locked), MANUAL (system under RC | |
| control), GUIDED (system with autonomous position control, | |
| position setpoint controlled manually) or AUTO (system guided | |
| by path/waypoint planner). The NAV_MODE defined the current | |
| flight state: LIFTOFF (often an open-loop maneuver), LANDING, | |
| WAYPOINTS or VECTOR. This represents the internal navigation | |
| state machine. The system status shows wether the system is | |
| currently active or not and if an emergency occured. During | |
| the CRITICAL and EMERGENCY states the MAV is still considered | |
| to be active, but should start emergency procedures | |
| autonomously. After a failure occured it should first move | |
| from active to critical to allow manual intervention and then | |
| move to emergency after a certain timeout. | |
| ''' | |
| def __init__(self, onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYS_STATUS, 'SYS_STATUS') | |
| self._fieldnames = ['onboard_control_sensors_present', 'onboard_control_sensors_enabled', 'onboard_control_sensors_health', 'load', 'voltage_battery', 'current_battery', 'battery_remaining', 'drop_rate_comm', 'errors_comm', 'errors_count1', 'errors_count2', 'errors_count3', 'errors_count4'] | |
| self.onboard_control_sensors_present = onboard_control_sensors_present | |
| self.onboard_control_sensors_enabled = onboard_control_sensors_enabled | |
| self.onboard_control_sensors_health = onboard_control_sensors_health | |
| self.load = load | |
| self.voltage_battery = voltage_battery | |
| self.current_battery = current_battery | |
| self.battery_remaining = battery_remaining | |
| self.drop_rate_comm = drop_rate_comm | |
| self.errors_comm = errors_comm | |
| self.errors_count1 = errors_count1 | |
| self.errors_count2 = errors_count2 | |
| self.errors_count3 = errors_count3 | |
| self.errors_count4 = errors_count4 | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 124, struct.pack('<IIIHHhHHHHHHb', self.onboard_control_sensors_present, self.onboard_control_sensors_enabled, self.onboard_control_sensors_health, self.load, self.voltage_battery, self.current_battery, self.drop_rate_comm, self.errors_comm, self.errors_count1, self.errors_count2, self.errors_count3, self.errors_count4, self.battery_remaining)) | |
| class MAVLink_system_time_message(MAVLink_message): | |
| ''' | |
| The system time is the time of the master clock, typically the | |
| computer clock of the main onboard computer. | |
| ''' | |
| def __init__(self, time_unix_usec, time_boot_ms): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYSTEM_TIME, 'SYSTEM_TIME') | |
| self._fieldnames = ['time_unix_usec', 'time_boot_ms'] | |
| self.time_unix_usec = time_unix_usec | |
| self.time_boot_ms = time_boot_ms | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 137, struct.pack('<QI', self.time_unix_usec, self.time_boot_ms)) | |
| class MAVLink_ping_message(MAVLink_message): | |
| ''' | |
| A ping message either requesting or responding to a ping. This | |
| allows to measure the system latencies, including serial port, | |
| radio modem and UDP connections. | |
| ''' | |
| def __init__(self, time_usec, seq, target_system, target_component): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_PING, 'PING') | |
| self._fieldnames = ['time_usec', 'seq', 'target_system', 'target_component'] | |
| self.time_usec = time_usec | |
| self.seq = seq | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 237, struct.pack('<QIBB', self.time_usec, self.seq, self.target_system, self.target_component)) | |
| class MAVLink_change_operator_control_message(MAVLink_message): | |
| ''' | |
| Request to control this MAV | |
| ''' | |
| def __init__(self, target_system, control_request, version, passkey): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, 'CHANGE_OPERATOR_CONTROL') | |
| self._fieldnames = ['target_system', 'control_request', 'version', 'passkey'] | |
| self.target_system = target_system | |
| self.control_request = control_request | |
| self.version = version | |
| self.passkey = passkey | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 217, struct.pack('<BBB25s', self.target_system, self.control_request, self.version, self.passkey)) | |
| class MAVLink_change_operator_control_ack_message(MAVLink_message): | |
| ''' | |
| Accept / deny control of this MAV | |
| ''' | |
| def __init__(self, gcs_system_id, control_request, ack): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, 'CHANGE_OPERATOR_CONTROL_ACK') | |
| self._fieldnames = ['gcs_system_id', 'control_request', 'ack'] | |
| self.gcs_system_id = gcs_system_id | |
| self.control_request = control_request | |
| self.ack = ack | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 104, struct.pack('<BBB', self.gcs_system_id, self.control_request, self.ack)) | |
| class MAVLink_auth_key_message(MAVLink_message): | |
| ''' | |
| Emit an encrypted signature / key identifying this system. | |
| PLEASE NOTE: This protocol has been kept simple, so | |
| transmitting the key requires an encrypted channel for true | |
| safety. | |
| ''' | |
| def __init__(self, key): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_AUTH_KEY, 'AUTH_KEY') | |
| self._fieldnames = ['key'] | |
| self.key = key | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 119, struct.pack('<32s', self.key)) | |
| class MAVLink_set_mode_message(MAVLink_message): | |
| ''' | |
| Set the system mode, as defined by enum MAV_MODE. There is no | |
| target component id as the mode is by definition for the | |
| overall aircraft, not only for one component. | |
| ''' | |
| def __init__(self, target_system, base_mode, custom_mode): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_MODE, 'SET_MODE') | |
| self._fieldnames = ['target_system', 'base_mode', 'custom_mode'] | |
| self.target_system = target_system | |
| self.base_mode = base_mode | |
| self.custom_mode = custom_mode | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 89, struct.pack('<IBB', self.custom_mode, self.target_system, self.base_mode)) | |
| class MAVLink_param_request_read_message(MAVLink_message): | |
| ''' | |
| Request to read the onboard parameter with the param_id string | |
| id. Onboard parameters are stored as key[const char*] -> | |
| value[float]. This allows to send a parameter to any other | |
| component (such as the GCS) without the need of previous | |
| knowledge of possible parameter names. Thus the same GCS can | |
| store different parameters for different autopilots. See also | |
| http://qgroundcontrol.org/parameter_interface for a full | |
| documentation of QGroundControl and IMU code. | |
| ''' | |
| def __init__(self, target_system, target_component, param_id, param_index): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_REQUEST_READ, 'PARAM_REQUEST_READ') | |
| self._fieldnames = ['target_system', 'target_component', 'param_id', 'param_index'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.param_id = param_id | |
| self.param_index = param_index | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 214, struct.pack('<hBB16s', self.param_index, self.target_system, self.target_component, self.param_id)) | |
| class MAVLink_param_request_list_message(MAVLink_message): | |
| ''' | |
| Request all parameters of this component. After his request, | |
| all parameters are emitted. | |
| ''' | |
| def __init__(self, target_system, target_component): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, 'PARAM_REQUEST_LIST') | |
| self._fieldnames = ['target_system', 'target_component'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 159, struct.pack('<BB', self.target_system, self.target_component)) | |
| class MAVLink_param_value_message(MAVLink_message): | |
| ''' | |
| Emit the value of a onboard parameter. The inclusion of | |
| param_count and param_index in the message allows the | |
| recipient to keep track of received parameters and allows him | |
| to re-request missing parameters after a loss or timeout. | |
| ''' | |
| def __init__(self, param_id, param_value, param_type, param_count, param_index): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_VALUE, 'PARAM_VALUE') | |
| self._fieldnames = ['param_id', 'param_value', 'param_type', 'param_count', 'param_index'] | |
| self.param_id = param_id | |
| self.param_value = param_value | |
| self.param_type = param_type | |
| self.param_count = param_count | |
| self.param_index = param_index | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 220, struct.pack('<fHH16sB', self.param_value, self.param_count, self.param_index, self.param_id, self.param_type)) | |
| class MAVLink_param_set_message(MAVLink_message): | |
| ''' | |
| Set a parameter value TEMPORARILY to RAM. It will be reset to | |
| default on system reboot. Send the ACTION | |
| MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM contents | |
| to EEPROM. IMPORTANT: The receiving component should | |
| acknowledge the new parameter value by sending a param_value | |
| message to all communication partners. This will also ensure | |
| that multiple GCS all have an up-to-date list of all | |
| parameters. If the sending GCS did not receive a PARAM_VALUE | |
| message within its timeout time, it should re-send the | |
| PARAM_SET message. | |
| ''' | |
| def __init__(self, target_system, target_component, param_id, param_value, param_type): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_SET, 'PARAM_SET') | |
| self._fieldnames = ['target_system', 'target_component', 'param_id', 'param_value', 'param_type'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.param_id = param_id | |
| self.param_value = param_value | |
| self.param_type = param_type | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 168, struct.pack('<fBB16sB', self.param_value, self.target_system, self.target_component, self.param_id, self.param_type)) | |
| class MAVLink_gps_raw_int_message(MAVLink_message): | |
| ''' | |
| The global position, as returned by the Global Positioning | |
| System (GPS). This is NOT the global position | |
| estimate of the sytem, but rather a RAW sensor value. See | |
| message GLOBAL_POSITION for the global position estimate. | |
| Coordinate frame is right-handed, Z-axis up (GPS frame). | |
| ''' | |
| def __init__(self, time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_RAW_INT, 'GPS_RAW_INT') | |
| self._fieldnames = ['time_usec', 'fix_type', 'lat', 'lon', 'alt', 'eph', 'epv', 'vel', 'cog', 'satellites_visible'] | |
| self.time_usec = time_usec | |
| self.fix_type = fix_type | |
| self.lat = lat | |
| self.lon = lon | |
| self.alt = alt | |
| self.eph = eph | |
| self.epv = epv | |
| self.vel = vel | |
| self.cog = cog | |
| self.satellites_visible = satellites_visible | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 24, struct.pack('<QiiiHHHHBB', self.time_usec, self.lat, self.lon, self.alt, self.eph, self.epv, self.vel, self.cog, self.fix_type, self.satellites_visible)) | |
| class MAVLink_gps_status_message(MAVLink_message): | |
| ''' | |
| The positioning status, as reported by GPS. This message is | |
| intended to display status information about each satellite | |
| visible to the receiver. See message GLOBAL_POSITION for the | |
| global position estimate. This message can contain information | |
| for up to 20 satellites. | |
| ''' | |
| def __init__(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_STATUS, 'GPS_STATUS') | |
| self._fieldnames = ['satellites_visible', 'satellite_prn', 'satellite_used', 'satellite_elevation', 'satellite_azimuth', 'satellite_snr'] | |
| self.satellites_visible = satellites_visible | |
| self.satellite_prn = satellite_prn | |
| self.satellite_used = satellite_used | |
| self.satellite_elevation = satellite_elevation | |
| self.satellite_azimuth = satellite_azimuth | |
| self.satellite_snr = satellite_snr | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 23, struct.pack('<B20s20s20s20s20s', self.satellites_visible, self.satellite_prn, self.satellite_used, self.satellite_elevation, self.satellite_azimuth, self.satellite_snr)) | |
| class MAVLink_scaled_imu_message(MAVLink_message): | |
| ''' | |
| The RAW IMU readings for the usual 9DOF sensor setup. This | |
| message should contain the scaled values to the described | |
| units | |
| ''' | |
| def __init__(self, time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SCALED_IMU, 'SCALED_IMU') | |
| self._fieldnames = ['time_boot_ms', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag'] | |
| self.time_boot_ms = time_boot_ms | |
| self.xacc = xacc | |
| self.yacc = yacc | |
| self.zacc = zacc | |
| self.xgyro = xgyro | |
| self.ygyro = ygyro | |
| self.zgyro = zgyro | |
| self.xmag = xmag | |
| self.ymag = ymag | |
| self.zmag = zmag | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 170, struct.pack('<Ihhhhhhhhh', self.time_boot_ms, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag)) | |
| class MAVLink_raw_imu_message(MAVLink_message): | |
| ''' | |
| The RAW IMU readings for the usual 9DOF sensor setup. This | |
| message should always contain the true raw values without any | |
| scaling to allow data capture and system debugging. | |
| ''' | |
| def __init__(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_RAW_IMU, 'RAW_IMU') | |
| self._fieldnames = ['time_usec', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag'] | |
| self.time_usec = time_usec | |
| self.xacc = xacc | |
| self.yacc = yacc | |
| self.zacc = zacc | |
| self.xgyro = xgyro | |
| self.ygyro = ygyro | |
| self.zgyro = zgyro | |
| self.xmag = xmag | |
| self.ymag = ymag | |
| self.zmag = zmag | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 144, struct.pack('<Qhhhhhhhhh', self.time_usec, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag)) | |
| class MAVLink_raw_pressure_message(MAVLink_message): | |
| ''' | |
| The RAW pressure readings for the typical setup of one | |
| absolute pressure and one differential pressure sensor. The | |
| sensor values should be the raw, UNSCALED ADC values. | |
| ''' | |
| def __init__(self, time_usec, press_abs, press_diff1, press_diff2, temperature): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_RAW_PRESSURE, 'RAW_PRESSURE') | |
| self._fieldnames = ['time_usec', 'press_abs', 'press_diff1', 'press_diff2', 'temperature'] | |
| self.time_usec = time_usec | |
| self.press_abs = press_abs | |
| self.press_diff1 = press_diff1 | |
| self.press_diff2 = press_diff2 | |
| self.temperature = temperature | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 67, struct.pack('<Qhhhh', self.time_usec, self.press_abs, self.press_diff1, self.press_diff2, self.temperature)) | |
| class MAVLink_scaled_pressure_message(MAVLink_message): | |
| ''' | |
| The pressure readings for the typical setup of one absolute | |
| and differential pressure sensor. The units are as specified | |
| in each field. | |
| ''' | |
| def __init__(self, time_boot_ms, press_abs, press_diff, temperature): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SCALED_PRESSURE, 'SCALED_PRESSURE') | |
| self._fieldnames = ['time_boot_ms', 'press_abs', 'press_diff', 'temperature'] | |
| self.time_boot_ms = time_boot_ms | |
| self.press_abs = press_abs | |
| self.press_diff = press_diff | |
| self.temperature = temperature | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 115, struct.pack('<Iffh', self.time_boot_ms, self.press_abs, self.press_diff, self.temperature)) | |
| class MAVLink_attitude_message(MAVLink_message): | |
| ''' | |
| The attitude in the aeronautical frame (right-handed, Z-down, | |
| X-front, Y-right). | |
| ''' | |
| def __init__(self, time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_ATTITUDE, 'ATTITUDE') | |
| self._fieldnames = ['time_boot_ms', 'roll', 'pitch', 'yaw', 'rollspeed', 'pitchspeed', 'yawspeed'] | |
| self.time_boot_ms = time_boot_ms | |
| self.roll = roll | |
| self.pitch = pitch | |
| self.yaw = yaw | |
| self.rollspeed = rollspeed | |
| self.pitchspeed = pitchspeed | |
| self.yawspeed = yawspeed | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 39, struct.pack('<Iffffff', self.time_boot_ms, self.roll, self.pitch, self.yaw, self.rollspeed, self.pitchspeed, self.yawspeed)) | |
| class MAVLink_attitude_quaternion_message(MAVLink_message): | |
| ''' | |
| The attitude in the aeronautical frame (right-handed, Z-down, | |
| X-front, Y-right), expressed as quaternion. | |
| ''' | |
| def __init__(self, time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, 'ATTITUDE_QUATERNION') | |
| self._fieldnames = ['time_boot_ms', 'q1', 'q2', 'q3', 'q4', 'rollspeed', 'pitchspeed', 'yawspeed'] | |
| self.time_boot_ms = time_boot_ms | |
| self.q1 = q1 | |
| self.q2 = q2 | |
| self.q3 = q3 | |
| self.q4 = q4 | |
| self.rollspeed = rollspeed | |
| self.pitchspeed = pitchspeed | |
| self.yawspeed = yawspeed | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 246, struct.pack('<Ifffffff', self.time_boot_ms, self.q1, self.q2, self.q3, self.q4, self.rollspeed, self.pitchspeed, self.yawspeed)) | |
| class MAVLink_local_position_ned_message(MAVLink_message): | |
| ''' | |
| The filtered local position (e.g. fused computer vision and | |
| accelerometers). Coordinate frame is right-handed, Z-axis down | |
| (aeronautical frame, NED / north-east-down convention) | |
| ''' | |
| def __init__(self, time_boot_ms, x, y, z, vx, vy, vz): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_NED, 'LOCAL_POSITION_NED') | |
| self._fieldnames = ['time_boot_ms', 'x', 'y', 'z', 'vx', 'vy', 'vz'] | |
| self.time_boot_ms = time_boot_ms | |
| self.x = x | |
| self.y = y | |
| self.z = z | |
| self.vx = vx | |
| self.vy = vy | |
| self.vz = vz | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 185, struct.pack('<Iffffff', self.time_boot_ms, self.x, self.y, self.z, self.vx, self.vy, self.vz)) | |
| class MAVLink_global_position_int_message(MAVLink_message): | |
| ''' | |
| The filtered global position (e.g. fused GPS and | |
| accelerometers). The position is in GPS-frame (right-handed, | |
| Z-up). It is designed as scaled integer message | |
| since the resolution of float is not sufficient. | |
| ''' | |
| def __init__(self, time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, 'GLOBAL_POSITION_INT') | |
| self._fieldnames = ['time_boot_ms', 'lat', 'lon', 'alt', 'relative_alt', 'vx', 'vy', 'vz', 'hdg'] | |
| self.time_boot_ms = time_boot_ms | |
| self.lat = lat | |
| self.lon = lon | |
| self.alt = alt | |
| self.relative_alt = relative_alt | |
| self.vx = vx | |
| self.vy = vy | |
| self.vz = vz | |
| self.hdg = hdg | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 104, struct.pack('<IiiiihhhH', self.time_boot_ms, self.lat, self.lon, self.alt, self.relative_alt, self.vx, self.vy, self.vz, self.hdg)) | |
| class MAVLink_rc_channels_scaled_message(MAVLink_message): | |
| ''' | |
| The scaled values of the RC channels received. (-100%) -10000, | |
| (0%) 0, (100%) 10000. Channels that are inactive should be set | |
| to 65535. | |
| ''' | |
| def __init__(self, time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, 'RC_CHANNELS_SCALED') | |
| self._fieldnames = ['time_boot_ms', 'port', 'chan1_scaled', 'chan2_scaled', 'chan3_scaled', 'chan4_scaled', 'chan5_scaled', 'chan6_scaled', 'chan7_scaled', 'chan8_scaled', 'rssi'] | |
| self.time_boot_ms = time_boot_ms | |
| self.port = port | |
| self.chan1_scaled = chan1_scaled | |
| self.chan2_scaled = chan2_scaled | |
| self.chan3_scaled = chan3_scaled | |
| self.chan4_scaled = chan4_scaled | |
| self.chan5_scaled = chan5_scaled | |
| self.chan6_scaled = chan6_scaled | |
| self.chan7_scaled = chan7_scaled | |
| self.chan8_scaled = chan8_scaled | |
| self.rssi = rssi | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 237, struct.pack('<IhhhhhhhhBB', self.time_boot_ms, self.chan1_scaled, self.chan2_scaled, self.chan3_scaled, self.chan4_scaled, self.chan5_scaled, self.chan6_scaled, self.chan7_scaled, self.chan8_scaled, self.port, self.rssi)) | |
| class MAVLink_rc_channels_raw_message(MAVLink_message): | |
| ''' | |
| The RAW values of the RC channels received. The standard PPM | |
| modulation is as follows: 1000 microseconds: 0%, 2000 | |
| microseconds: 100%. Individual receivers/transmitters might | |
| violate this specification. | |
| ''' | |
| def __init__(self, time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_RAW, 'RC_CHANNELS_RAW') | |
| self._fieldnames = ['time_boot_ms', 'port', 'chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw', 'rssi'] | |
| self.time_boot_ms = time_boot_ms | |
| self.port = port | |
| self.chan1_raw = chan1_raw | |
| self.chan2_raw = chan2_raw | |
| self.chan3_raw = chan3_raw | |
| self.chan4_raw = chan4_raw | |
| self.chan5_raw = chan5_raw | |
| self.chan6_raw = chan6_raw | |
| self.chan7_raw = chan7_raw | |
| self.chan8_raw = chan8_raw | |
| self.rssi = rssi | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 244, struct.pack('<IHHHHHHHHBB', self.time_boot_ms, self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw, self.port, self.rssi)) | |
| class MAVLink_servo_output_raw_message(MAVLink_message): | |
| ''' | |
| The RAW values of the servo outputs (for RC input from the | |
| remote, use the RC_CHANNELS messages). The standard PPM | |
| modulation is as follows: 1000 microseconds: 0%, 2000 | |
| microseconds: 100%. | |
| ''' | |
| def __init__(self, time_usec, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 'SERVO_OUTPUT_RAW') | |
| self._fieldnames = ['time_usec', 'port', 'servo1_raw', 'servo2_raw', 'servo3_raw', 'servo4_raw', 'servo5_raw', 'servo6_raw', 'servo7_raw', 'servo8_raw'] | |
| self.time_usec = time_usec | |
| self.port = port | |
| self.servo1_raw = servo1_raw | |
| self.servo2_raw = servo2_raw | |
| self.servo3_raw = servo3_raw | |
| self.servo4_raw = servo4_raw | |
| self.servo5_raw = servo5_raw | |
| self.servo6_raw = servo6_raw | |
| self.servo7_raw = servo7_raw | |
| self.servo8_raw = servo8_raw | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 222, struct.pack('<IHHHHHHHHB', self.time_usec, self.servo1_raw, self.servo2_raw, self.servo3_raw, self.servo4_raw, self.servo5_raw, self.servo6_raw, self.servo7_raw, self.servo8_raw, self.port)) | |
| class MAVLink_mission_request_partial_list_message(MAVLink_message): | |
| ''' | |
| Request a partial list of mission items from the | |
| system/component. | |
| http://qgroundcontrol.org/mavlink/waypoint_protocol. If start | |
| and end index are the same, just send one waypoint. | |
| ''' | |
| def __init__(self, target_system, target_component, start_index, end_index): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST, 'MISSION_REQUEST_PARTIAL_LIST') | |
| self._fieldnames = ['target_system', 'target_component', 'start_index', 'end_index'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.start_index = start_index | |
| self.end_index = end_index | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 212, struct.pack('<hhBB', self.start_index, self.end_index, self.target_system, self.target_component)) | |
| class MAVLink_mission_write_partial_list_message(MAVLink_message): | |
| ''' | |
| This message is sent to the MAV to write a partial list. If | |
| start index == end index, only one item will be transmitted / | |
| updated. If the start index is NOT 0 and above the current | |
| list size, this request should be REJECTED! | |
| ''' | |
| def __init__(self, target_system, target_component, start_index, end_index): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST, 'MISSION_WRITE_PARTIAL_LIST') | |
| self._fieldnames = ['target_system', 'target_component', 'start_index', 'end_index'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.start_index = start_index | |
| self.end_index = end_index | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 9, struct.pack('<hhBB', self.start_index, self.end_index, self.target_system, self.target_component)) | |
| class MAVLink_mission_item_message(MAVLink_message): | |
| ''' | |
| Message encoding a mission item. This message is emitted to | |
| announce the presence of a mission item and to | |
| set a mission item on the system. The mission item can be | |
| either in x, y, z meters (type: LOCAL) or x:lat, y:lon, | |
| z:altitude. Local frame is Z-down, right handed (NED), global | |
| frame is Z-up, right handed (ENU). See also | |
| http://qgroundcontrol.org/mavlink/waypoint_protocol. | |
| ''' | |
| def __init__(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_ITEM, 'MISSION_ITEM') | |
| self._fieldnames = ['target_system', 'target_component', 'seq', 'frame', 'command', 'current', 'autocontinue', 'param1', 'param2', 'param3', 'param4', 'x', 'y', 'z'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.seq = seq | |
| self.frame = frame | |
| self.command = command | |
| self.current = current | |
| self.autocontinue = autocontinue | |
| self.param1 = param1 | |
| self.param2 = param2 | |
| self.param3 = param3 | |
| self.param4 = param4 | |
| self.x = x | |
| self.y = y | |
| self.z = z | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 254, struct.pack('<fffffffHHBBBBB', self.param1, self.param2, self.param3, self.param4, self.x, self.y, self.z, self.seq, self.command, self.target_system, self.target_component, self.frame, self.current, self.autocontinue)) | |
| class MAVLink_mission_request_message(MAVLink_message): | |
| ''' | |
| Request the information of the mission item with the sequence | |
| number seq. The response of the system to this message should | |
| be a MISSION_ITEM message. | |
| http://qgroundcontrol.org/mavlink/waypoint_protocol | |
| ''' | |
| def __init__(self, target_system, target_component, seq): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_REQUEST, 'MISSION_REQUEST') | |
| self._fieldnames = ['target_system', 'target_component', 'seq'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.seq = seq | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 230, struct.pack('<HBB', self.seq, self.target_system, self.target_component)) | |
| class MAVLink_mission_set_current_message(MAVLink_message): | |
| ''' | |
| Set the mission item with sequence number seq as current item. | |
| This means that the MAV will continue to this mission item on | |
| the shortest path (not following the mission items in- | |
| between). | |
| ''' | |
| def __init__(self, target_system, target_component, seq): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_SET_CURRENT, 'MISSION_SET_CURRENT') | |
| self._fieldnames = ['target_system', 'target_component', 'seq'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.seq = seq | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 28, struct.pack('<HBB', self.seq, self.target_system, self.target_component)) | |
| class MAVLink_mission_current_message(MAVLink_message): | |
| ''' | |
| Message that announces the sequence number of the current | |
| active mission item. The MAV will fly towards this mission | |
| item. | |
| ''' | |
| def __init__(self, seq): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_CURRENT, 'MISSION_CURRENT') | |
| self._fieldnames = ['seq'] | |
| self.seq = seq | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 28, struct.pack('<H', self.seq)) | |
| class MAVLink_mission_request_list_message(MAVLink_message): | |
| ''' | |
| Request the overall list of mission items from the | |
| system/component. | |
| ''' | |
| def __init__(self, target_system, target_component): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, 'MISSION_REQUEST_LIST') | |
| self._fieldnames = ['target_system', 'target_component'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 132, struct.pack('<BB', self.target_system, self.target_component)) | |
| class MAVLink_mission_count_message(MAVLink_message): | |
| ''' | |
| This message is emitted as response to MISSION_REQUEST_LIST by | |
| the MAV and to initiate a write transaction. The GCS can then | |
| request the individual mission item based on the knowledge of | |
| the total number of MISSIONs. | |
| ''' | |
| def __init__(self, target_system, target_component, count): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_COUNT, 'MISSION_COUNT') | |
| self._fieldnames = ['target_system', 'target_component', 'count'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.count = count | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 221, struct.pack('<HBB', self.count, self.target_system, self.target_component)) | |
| class MAVLink_mission_clear_all_message(MAVLink_message): | |
| ''' | |
| Delete all mission items at once. | |
| ''' | |
| def __init__(self, target_system, target_component): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, 'MISSION_CLEAR_ALL') | |
| self._fieldnames = ['target_system', 'target_component'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 232, struct.pack('<BB', self.target_system, self.target_component)) | |
| class MAVLink_mission_item_reached_message(MAVLink_message): | |
| ''' | |
| A certain mission item has been reached. The system will | |
| either hold this position (or circle on the orbit) or (if the | |
| autocontinue on the WP was set) continue to the next MISSION. | |
| ''' | |
| def __init__(self, seq): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, 'MISSION_ITEM_REACHED') | |
| self._fieldnames = ['seq'] | |
| self.seq = seq | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 11, struct.pack('<H', self.seq)) | |
| class MAVLink_mission_ack_message(MAVLink_message): | |
| ''' | |
| Ack message during MISSION handling. The type field states if | |
| this message is a positive ack (type=0) or if an error | |
| happened (type=non-zero). | |
| ''' | |
| def __init__(self, target_system, target_component, type): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_ACK, 'MISSION_ACK') | |
| self._fieldnames = ['target_system', 'target_component', 'type'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.type = type | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 153, struct.pack('<BBB', self.target_system, self.target_component, self.type)) | |
| class MAVLink_set_gps_global_origin_message(MAVLink_message): | |
| ''' | |
| As local waypoints exist, the global MISSION reference allows | |
| to transform between the local coordinate frame and the global | |
| (GPS) coordinate frame. This can be necessary when e.g. in- | |
| and outdoor settings are connected and the MAV should move | |
| from in- to outdoor. | |
| ''' | |
| def __init__(self, target_system, latitude, longitude, altitude): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, 'SET_GPS_GLOBAL_ORIGIN') | |
| self._fieldnames = ['target_system', 'latitude', 'longitude', 'altitude'] | |
| self.target_system = target_system | |
| self.latitude = latitude | |
| self.longitude = longitude | |
| self.altitude = altitude | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 41, struct.pack('<iiiB', self.latitude, self.longitude, self.altitude, self.target_system)) | |
| class MAVLink_gps_global_origin_message(MAVLink_message): | |
| ''' | |
| Once the MAV sets a new GPS-Local correspondence, this message | |
| announces the origin (0,0,0) position | |
| ''' | |
| def __init__(self, latitude, longitude, altitude): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, 'GPS_GLOBAL_ORIGIN') | |
| self._fieldnames = ['latitude', 'longitude', 'altitude'] | |
| self.latitude = latitude | |
| self.longitude = longitude | |
| self.altitude = altitude | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 39, struct.pack('<iii', self.latitude, self.longitude, self.altitude)) | |
| class MAVLink_set_local_position_setpoint_message(MAVLink_message): | |
| ''' | |
| Set the setpoint for a local position controller. This is the | |
| position in local coordinates the MAV should fly to. This | |
| message is sent by the path/MISSION planner to the onboard | |
| position controller. As some MAVs have a degree of freedom in | |
| yaw (e.g. all helicopters/quadrotors), the desired yaw angle | |
| is part of the message. | |
| ''' | |
| def __init__(self, target_system, target_component, coordinate_frame, x, y, z, yaw): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, 'SET_LOCAL_POSITION_SETPOINT') | |
| self._fieldnames = ['target_system', 'target_component', 'coordinate_frame', 'x', 'y', 'z', 'yaw'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.coordinate_frame = coordinate_frame | |
| self.x = x | |
| self.y = y | |
| self.z = z | |
| self.yaw = yaw | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 214, struct.pack('<ffffBBB', self.x, self.y, self.z, self.yaw, self.target_system, self.target_component, self.coordinate_frame)) | |
| class MAVLink_local_position_setpoint_message(MAVLink_message): | |
| ''' | |
| Transmit the current local setpoint of the controller to other | |
| MAVs (collision avoidance) and to the GCS. | |
| ''' | |
| def __init__(self, coordinate_frame, x, y, z, yaw): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, 'LOCAL_POSITION_SETPOINT') | |
| self._fieldnames = ['coordinate_frame', 'x', 'y', 'z', 'yaw'] | |
| self.coordinate_frame = coordinate_frame | |
| self.x = x | |
| self.y = y | |
| self.z = z | |
| self.yaw = yaw | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 223, struct.pack('<ffffB', self.x, self.y, self.z, self.yaw, self.coordinate_frame)) | |
| class MAVLink_global_position_setpoint_int_message(MAVLink_message): | |
| ''' | |
| Transmit the current local setpoint of the controller to other | |
| MAVs (collision avoidance) and to the GCS. | |
| ''' | |
| def __init__(self, coordinate_frame, latitude, longitude, altitude, yaw): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, 'GLOBAL_POSITION_SETPOINT_INT') | |
| self._fieldnames = ['coordinate_frame', 'latitude', 'longitude', 'altitude', 'yaw'] | |
| self.coordinate_frame = coordinate_frame | |
| self.latitude = latitude | |
| self.longitude = longitude | |
| self.altitude = altitude | |
| self.yaw = yaw | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 141, struct.pack('<iiihB', self.latitude, self.longitude, self.altitude, self.yaw, self.coordinate_frame)) | |
| class MAVLink_set_global_position_setpoint_int_message(MAVLink_message): | |
| ''' | |
| Set the current global position setpoint. | |
| ''' | |
| def __init__(self, coordinate_frame, latitude, longitude, altitude, yaw): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, 'SET_GLOBAL_POSITION_SETPOINT_INT') | |
| self._fieldnames = ['coordinate_frame', 'latitude', 'longitude', 'altitude', 'yaw'] | |
| self.coordinate_frame = coordinate_frame | |
| self.latitude = latitude | |
| self.longitude = longitude | |
| self.altitude = altitude | |
| self.yaw = yaw | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 33, struct.pack('<iiihB', self.latitude, self.longitude, self.altitude, self.yaw, self.coordinate_frame)) | |
| class MAVLink_safety_set_allowed_area_message(MAVLink_message): | |
| ''' | |
| Set a safety zone (volume), which is defined by two corners of | |
| a cube. This message can be used to tell the MAV which | |
| setpoints/MISSIONs to accept and which to reject. Safety areas | |
| are often enforced by national or competition regulations. | |
| ''' | |
| def __init__(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, 'SAFETY_SET_ALLOWED_AREA') | |
| self._fieldnames = ['target_system', 'target_component', 'frame', 'p1x', 'p1y', 'p1z', 'p2x', 'p2y', 'p2z'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.frame = frame | |
| self.p1x = p1x | |
| self.p1y = p1y | |
| self.p1z = p1z | |
| self.p2x = p2x | |
| self.p2y = p2y | |
| self.p2z = p2z | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 15, struct.pack('<ffffffBBB', self.p1x, self.p1y, self.p1z, self.p2x, self.p2y, self.p2z, self.target_system, self.target_component, self.frame)) | |
| class MAVLink_safety_allowed_area_message(MAVLink_message): | |
| ''' | |
| Read out the safety zone the MAV currently assumes. | |
| ''' | |
| def __init__(self, frame, p1x, p1y, p1z, p2x, p2y, p2z): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, 'SAFETY_ALLOWED_AREA') | |
| self._fieldnames = ['frame', 'p1x', 'p1y', 'p1z', 'p2x', 'p2y', 'p2z'] | |
| self.frame = frame | |
| self.p1x = p1x | |
| self.p1y = p1y | |
| self.p1z = p1z | |
| self.p2x = p2x | |
| self.p2y = p2y | |
| self.p2z = p2z | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 3, struct.pack('<ffffffB', self.p1x, self.p1y, self.p1z, self.p2x, self.p2y, self.p2z, self.frame)) | |
| class MAVLink_set_roll_pitch_yaw_thrust_message(MAVLink_message): | |
| ''' | |
| Set roll, pitch and yaw. | |
| ''' | |
| def __init__(self, target_system, target_component, roll, pitch, yaw, thrust): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, 'SET_ROLL_PITCH_YAW_THRUST') | |
| self._fieldnames = ['target_system', 'target_component', 'roll', 'pitch', 'yaw', 'thrust'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.roll = roll | |
| self.pitch = pitch | |
| self.yaw = yaw | |
| self.thrust = thrust | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 100, struct.pack('<ffffBB', self.roll, self.pitch, self.yaw, self.thrust, self.target_system, self.target_component)) | |
| class MAVLink_set_roll_pitch_yaw_speed_thrust_message(MAVLink_message): | |
| ''' | |
| Set roll, pitch and yaw. | |
| ''' | |
| def __init__(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, 'SET_ROLL_PITCH_YAW_SPEED_THRUST') | |
| self._fieldnames = ['target_system', 'target_component', 'roll_speed', 'pitch_speed', 'yaw_speed', 'thrust'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.roll_speed = roll_speed | |
| self.pitch_speed = pitch_speed | |
| self.yaw_speed = yaw_speed | |
| self.thrust = thrust | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 24, struct.pack('<ffffBB', self.roll_speed, self.pitch_speed, self.yaw_speed, self.thrust, self.target_system, self.target_component)) | |
| class MAVLink_roll_pitch_yaw_thrust_setpoint_message(MAVLink_message): | |
| ''' | |
| Setpoint in roll, pitch, yaw currently active on the system. | |
| ''' | |
| def __init__(self, time_boot_ms, roll, pitch, yaw, thrust): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, 'ROLL_PITCH_YAW_THRUST_SETPOINT') | |
| self._fieldnames = ['time_boot_ms', 'roll', 'pitch', 'yaw', 'thrust'] | |
| self.time_boot_ms = time_boot_ms | |
| self.roll = roll | |
| self.pitch = pitch | |
| self.yaw = yaw | |
| self.thrust = thrust | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 239, struct.pack('<Iffff', self.time_boot_ms, self.roll, self.pitch, self.yaw, self.thrust)) | |
| class MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message(MAVLink_message): | |
| ''' | |
| Setpoint in rollspeed, pitchspeed, yawspeed currently active | |
| on the system. | |
| ''' | |
| def __init__(self, time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, 'ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT') | |
| self._fieldnames = ['time_boot_ms', 'roll_speed', 'pitch_speed', 'yaw_speed', 'thrust'] | |
| self.time_boot_ms = time_boot_ms | |
| self.roll_speed = roll_speed | |
| self.pitch_speed = pitch_speed | |
| self.yaw_speed = yaw_speed | |
| self.thrust = thrust | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 238, struct.pack('<Iffff', self.time_boot_ms, self.roll_speed, self.pitch_speed, self.yaw_speed, self.thrust)) | |
| class MAVLink_set_quad_motors_setpoint_message(MAVLink_message): | |
| ''' | |
| Setpoint in the four motor speeds | |
| ''' | |
| def __init__(self, target_system, motor_front_nw, motor_right_ne, motor_back_se, motor_left_sw): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT, 'SET_QUAD_MOTORS_SETPOINT') | |
| self._fieldnames = ['target_system', 'motor_front_nw', 'motor_right_ne', 'motor_back_se', 'motor_left_sw'] | |
| self.target_system = target_system | |
| self.motor_front_nw = motor_front_nw | |
| self.motor_right_ne = motor_right_ne | |
| self.motor_back_se = motor_back_se | |
| self.motor_left_sw = motor_left_sw | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 30, struct.pack('<HHHHB', self.motor_front_nw, self.motor_right_ne, self.motor_back_se, self.motor_left_sw, self.target_system)) | |
| class MAVLink_set_quad_swarm_roll_pitch_yaw_thrust_message(MAVLink_message): | |
| ''' | |
| Setpoint for up to four quadrotors in a group / wing | |
| ''' | |
| def __init__(self, group, mode, roll, pitch, yaw, thrust): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, 'SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST') | |
| self._fieldnames = ['group', 'mode', 'roll', 'pitch', 'yaw', 'thrust'] | |
| self.group = group | |
| self.mode = mode | |
| self.roll = roll | |
| self.pitch = pitch | |
| self.yaw = yaw | |
| self.thrust = thrust | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 240, struct.pack('<4h4h4h4HBB', self.roll, self.pitch, self.yaw, self.thrust, self.group, self.mode)) | |
| class MAVLink_nav_controller_output_message(MAVLink_message): | |
| ''' | |
| 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. | |
| ''' | |
| def __init__(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, 'NAV_CONTROLLER_OUTPUT') | |
| self._fieldnames = ['nav_roll', 'nav_pitch', 'nav_bearing', 'target_bearing', 'wp_dist', 'alt_error', 'aspd_error', 'xtrack_error'] | |
| self.nav_roll = nav_roll | |
| self.nav_pitch = nav_pitch | |
| self.nav_bearing = nav_bearing | |
| self.target_bearing = target_bearing | |
| self.wp_dist = wp_dist | |
| self.alt_error = alt_error | |
| self.aspd_error = aspd_error | |
| self.xtrack_error = xtrack_error | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 183, struct.pack('<fffffhhH', self.nav_roll, self.nav_pitch, self.alt_error, self.aspd_error, self.xtrack_error, self.nav_bearing, self.target_bearing, self.wp_dist)) | |
| class MAVLink_set_quad_swarm_led_roll_pitch_yaw_thrust_message(MAVLink_message): | |
| ''' | |
| Setpoint for up to four quadrotors in a group / wing | |
| ''' | |
| def __init__(self, group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, 'SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST') | |
| self._fieldnames = ['group', 'mode', 'led_red', 'led_blue', 'led_green', 'roll', 'pitch', 'yaw', 'thrust'] | |
| self.group = group | |
| self.mode = mode | |
| self.led_red = led_red | |
| self.led_blue = led_blue | |
| self.led_green = led_green | |
| self.roll = roll | |
| self.pitch = pitch | |
| self.yaw = yaw | |
| self.thrust = thrust | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 130, struct.pack('<4h4h4h4HBB4s4s4s', self.roll, self.pitch, self.yaw, self.thrust, self.group, self.mode, self.led_red, self.led_blue, self.led_green)) | |
| class MAVLink_state_correction_message(MAVLink_message): | |
| ''' | |
| Corrects the systems state by adding an error correction term | |
| to the position and velocity, and by rotating the attitude by | |
| a correction angle. | |
| ''' | |
| def __init__(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_STATE_CORRECTION, 'STATE_CORRECTION') | |
| self._fieldnames = ['xErr', 'yErr', 'zErr', 'rollErr', 'pitchErr', 'yawErr', 'vxErr', 'vyErr', 'vzErr'] | |
| self.xErr = xErr | |
| self.yErr = yErr | |
| self.zErr = zErr | |
| self.rollErr = rollErr | |
| self.pitchErr = pitchErr | |
| self.yawErr = yawErr | |
| self.vxErr = vxErr | |
| self.vyErr = vyErr | |
| self.vzErr = vzErr | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 130, struct.pack('<fffffffff', self.xErr, self.yErr, self.zErr, self.rollErr, self.pitchErr, self.yawErr, self.vxErr, self.vyErr, self.vzErr)) | |
| class MAVLink_request_data_stream_message(MAVLink_message): | |
| ''' | |
| ''' | |
| def __init__(self, target_system, target_component, req_stream_id, req_message_rate, start_stop): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, 'REQUEST_DATA_STREAM') | |
| self._fieldnames = ['target_system', 'target_component', 'req_stream_id', 'req_message_rate', 'start_stop'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.req_stream_id = req_stream_id | |
| self.req_message_rate = req_message_rate | |
| self.start_stop = start_stop | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 148, struct.pack('<HBBBB', self.req_message_rate, self.target_system, self.target_component, self.req_stream_id, self.start_stop)) | |
| class MAVLink_data_stream_message(MAVLink_message): | |
| ''' | |
| ''' | |
| def __init__(self, stream_id, message_rate, on_off): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_DATA_STREAM, 'DATA_STREAM') | |
| self._fieldnames = ['stream_id', 'message_rate', 'on_off'] | |
| self.stream_id = stream_id | |
| self.message_rate = message_rate | |
| self.on_off = on_off | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 21, struct.pack('<HBB', self.message_rate, self.stream_id, self.on_off)) | |
| class MAVLink_manual_control_message(MAVLink_message): | |
| ''' | |
| This message provides an API for manually controlling the | |
| vehicle using standard joystick axes nomenclature, along with | |
| a joystick-like input device. Unused axes can be disabled an | |
| buttons are also transmit as boolean values of their | |
| ''' | |
| def __init__(self, target, x, y, z, r, buttons): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MANUAL_CONTROL, 'MANUAL_CONTROL') | |
| self._fieldnames = ['target', 'x', 'y', 'z', 'r', 'buttons'] | |
| self.target = target | |
| self.x = x | |
| self.y = y | |
| self.z = z | |
| self.r = r | |
| self.buttons = buttons | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 243, struct.pack('<hhhhHB', self.x, self.y, self.z, self.r, self.buttons, self.target)) | |
| class MAVLink_rc_channels_override_message(MAVLink_message): | |
| ''' | |
| The RAW values of the RC channels sent to the MAV to override | |
| info received from the RC radio. A value of -1 means no change | |
| to that channel. A value of 0 means control of that channel | |
| should be released back to the RC radio. The standard PPM | |
| modulation is as follows: 1000 microseconds: 0%, 2000 | |
| microseconds: 100%. Individual receivers/transmitters might | |
| violate this specification. | |
| ''' | |
| def __init__(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, 'RC_CHANNELS_OVERRIDE') | |
| self._fieldnames = ['target_system', 'target_component', 'chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.chan1_raw = chan1_raw | |
| self.chan2_raw = chan2_raw | |
| self.chan3_raw = chan3_raw | |
| self.chan4_raw = chan4_raw | |
| self.chan5_raw = chan5_raw | |
| self.chan6_raw = chan6_raw | |
| self.chan7_raw = chan7_raw | |
| self.chan8_raw = chan8_raw | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 124, struct.pack('<HHHHHHHHBB', self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw, self.target_system, self.target_component)) | |
| class MAVLink_vfr_hud_message(MAVLink_message): | |
| ''' | |
| Metrics typically displayed on a HUD for fixed wing aircraft | |
| ''' | |
| def __init__(self, airspeed, groundspeed, heading, throttle, alt, climb): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_VFR_HUD, 'VFR_HUD') | |
| self._fieldnames = ['airspeed', 'groundspeed', 'heading', 'throttle', 'alt', 'climb'] | |
| self.airspeed = airspeed | |
| self.groundspeed = groundspeed | |
| self.heading = heading | |
| self.throttle = throttle | |
| self.alt = alt | |
| self.climb = climb | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 20, struct.pack('<ffffhH', self.airspeed, self.groundspeed, self.alt, self.climb, self.heading, self.throttle)) | |
| class MAVLink_command_long_message(MAVLink_message): | |
| ''' | |
| Send a command with up to four parameters to the MAV | |
| ''' | |
| def __init__(self, target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_COMMAND_LONG, 'COMMAND_LONG') | |
| self._fieldnames = ['target_system', 'target_component', 'command', 'confirmation', 'param1', 'param2', 'param3', 'param4', 'param5', 'param6', 'param7'] | |
| self.target_system = target_system | |
| self.target_component = target_component | |
| self.command = command | |
| self.confirmation = confirmation | |
| self.param1 = param1 | |
| self.param2 = param2 | |
| self.param3 = param3 | |
| self.param4 = param4 | |
| self.param5 = param5 | |
| self.param6 = param6 | |
| self.param7 = param7 | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 152, struct.pack('<fffffffHBBB', self.param1, self.param2, self.param3, self.param4, self.param5, self.param6, self.param7, self.command, self.target_system, self.target_component, self.confirmation)) | |
| class MAVLink_command_ack_message(MAVLink_message): | |
| ''' | |
| Report status of a command. Includes feedback wether the | |
| command was executed. | |
| ''' | |
| def __init__(self, command, result): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_COMMAND_ACK, 'COMMAND_ACK') | |
| self._fieldnames = ['command', 'result'] | |
| self.command = command | |
| self.result = result | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 143, struct.pack('<HB', self.command, self.result)) | |
| class MAVLink_roll_pitch_yaw_rates_thrust_setpoint_message(MAVLink_message): | |
| ''' | |
| Setpoint in roll, pitch, yaw rates and thrust currently active | |
| on the system. | |
| ''' | |
| def __init__(self, time_boot_ms, roll_rate, pitch_rate, yaw_rate, thrust): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, 'ROLL_PITCH_YAW_RATES_THRUST_SETPOINT') | |
| self._fieldnames = ['time_boot_ms', 'roll_rate', 'pitch_rate', 'yaw_rate', 'thrust'] | |
| self.time_boot_ms = time_boot_ms | |
| self.roll_rate = roll_rate | |
| self.pitch_rate = pitch_rate | |
| self.yaw_rate = yaw_rate | |
| self.thrust = thrust | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 127, struct.pack('<Iffff', self.time_boot_ms, self.roll_rate, self.pitch_rate, self.yaw_rate, self.thrust)) | |
| class MAVLink_manual_setpoint_message(MAVLink_message): | |
| ''' | |
| Setpoint in roll, pitch, yaw and thrust from the operator | |
| ''' | |
| def __init__(self, time_boot_ms, roll, pitch, yaw, thrust, mode_switch, manual_override_switch): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MANUAL_SETPOINT, 'MANUAL_SETPOINT') | |
| self._fieldnames = ['time_boot_ms', 'roll', 'pitch', 'yaw', 'thrust', 'mode_switch', 'manual_override_switch'] | |
| self.time_boot_ms = time_boot_ms | |
| self.roll = roll | |
| self.pitch = pitch | |
| self.yaw = yaw | |
| self.thrust = thrust | |
| self.mode_switch = mode_switch | |
| self.manual_override_switch = manual_override_switch | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 106, struct.pack('<IffffBB', self.time_boot_ms, self.roll, self.pitch, self.yaw, self.thrust, self.mode_switch, self.manual_override_switch)) | |
| class MAVLink_local_position_ned_system_global_offset_message(MAVLink_message): | |
| ''' | |
| The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED | |
| messages of MAV X and the global coordinate frame in NED | |
| coordinates. Coordinate frame is right-handed, Z-axis down | |
| (aeronautical frame, NED / north-east-down convention) | |
| ''' | |
| def __init__(self, time_boot_ms, x, y, z, roll, pitch, yaw): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, 'LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET') | |
| self._fieldnames = ['time_boot_ms', 'x', 'y', 'z', 'roll', 'pitch', 'yaw'] | |
| self.time_boot_ms = time_boot_ms | |
| self.x = x | |
| self.y = y | |
| self.z = z | |
| self.roll = roll | |
| self.pitch = pitch | |
| self.yaw = yaw | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 231, struct.pack('<Iffffff', self.time_boot_ms, self.x, self.y, self.z, self.roll, self.pitch, self.yaw)) | |
| class MAVLink_hil_state_message(MAVLink_message): | |
| ''' | |
| Sent from simulation to autopilot. This packet is useful for | |
| high throughput applications such as hardware in the loop | |
| simulations. | |
| ''' | |
| def __init__(self, time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_STATE, 'HIL_STATE') | |
| self._fieldnames = ['time_usec', 'roll', 'pitch', 'yaw', 'rollspeed', 'pitchspeed', 'yawspeed', 'lat', 'lon', 'alt', 'vx', 'vy', 'vz', 'xacc', 'yacc', 'zacc'] | |
| self.time_usec = time_usec | |
| self.roll = roll | |
| self.pitch = pitch | |
| self.yaw = yaw | |
| self.rollspeed = rollspeed | |
| self.pitchspeed = pitchspeed | |
| self.yawspeed = yawspeed | |
| self.lat = lat | |
| self.lon = lon | |
| self.alt = alt | |
| self.vx = vx | |
| self.vy = vy | |
| self.vz = vz | |
| self.xacc = xacc | |
| self.yacc = yacc | |
| self.zacc = zacc | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 183, struct.pack('<Qffffffiiihhhhhh', self.time_usec, self.roll, self.pitch, self.yaw, self.rollspeed, self.pitchspeed, self.yawspeed, self.lat, self.lon, self.alt, self.vx, self.vy, self.vz, self.xacc, self.yacc, self.zacc)) | |
| class MAVLink_hil_controls_message(MAVLink_message): | |
| ''' | |
| Sent from autopilot to simulation. Hardware in the loop | |
| control outputs | |
| ''' | |
| def __init__(self, time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_CONTROLS, 'HIL_CONTROLS') | |
| self._fieldnames = ['time_usec', 'roll_ailerons', 'pitch_elevator', 'yaw_rudder', 'throttle', 'aux1', 'aux2', 'aux3', 'aux4', 'mode', 'nav_mode'] | |
| self.time_usec = time_usec | |
| self.roll_ailerons = roll_ailerons | |
| self.pitch_elevator = pitch_elevator | |
| self.yaw_rudder = yaw_rudder | |
| self.throttle = throttle | |
| self.aux1 = aux1 | |
| self.aux2 = aux2 | |
| self.aux3 = aux3 | |
| self.aux4 = aux4 | |
| self.mode = mode | |
| self.nav_mode = nav_mode | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 63, struct.pack('<QffffffffBB', self.time_usec, self.roll_ailerons, self.pitch_elevator, self.yaw_rudder, self.throttle, self.aux1, self.aux2, self.aux3, self.aux4, self.mode, self.nav_mode)) | |
| class MAVLink_hil_rc_inputs_raw_message(MAVLink_message): | |
| ''' | |
| Sent from simulation to autopilot. The RAW values of the RC | |
| channels received. The standard PPM modulation is as follows: | |
| 1000 microseconds: 0%, 2000 microseconds: 100%. Individual | |
| receivers/transmitters might violate this specification. | |
| ''' | |
| def __init__(self, time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW, 'HIL_RC_INPUTS_RAW') | |
| self._fieldnames = ['time_usec', 'chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw', 'chan9_raw', 'chan10_raw', 'chan11_raw', 'chan12_raw', 'rssi'] | |
| self.time_usec = time_usec | |
| self.chan1_raw = chan1_raw | |
| self.chan2_raw = chan2_raw | |
| self.chan3_raw = chan3_raw | |
| self.chan4_raw = chan4_raw | |
| self.chan5_raw = chan5_raw | |
| self.chan6_raw = chan6_raw | |
| self.chan7_raw = chan7_raw | |
| self.chan8_raw = chan8_raw | |
| self.chan9_raw = chan9_raw | |
| self.chan10_raw = chan10_raw | |
| self.chan11_raw = chan11_raw | |
| self.chan12_raw = chan12_raw | |
| self.rssi = rssi | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 54, struct.pack('<QHHHHHHHHHHHHB', self.time_usec, self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw, self.chan9_raw, self.chan10_raw, self.chan11_raw, self.chan12_raw, self.rssi)) | |
| class MAVLink_optical_flow_message(MAVLink_message): | |
| ''' | |
| Optical flow from a flow sensor (e.g. optical mouse sensor) | |
| ''' | |
| def __init__(self, time_usec, sensor_id, flow_x, flow_y, flow_comp_m_x, flow_comp_m_y, quality, ground_distance): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_OPTICAL_FLOW, 'OPTICAL_FLOW') | |
| self._fieldnames = ['time_usec', 'sensor_id', 'flow_x', 'flow_y', 'flow_comp_m_x', 'flow_comp_m_y', 'quality', 'ground_distance'] | |
| self.time_usec = time_usec | |
| self.sensor_id = sensor_id | |
| self.flow_x = flow_x | |
| self.flow_y = flow_y | |
| self.flow_comp_m_x = flow_comp_m_x | |
| self.flow_comp_m_y = flow_comp_m_y | |
| self.quality = quality | |
| self.ground_distance = ground_distance | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 175, struct.pack('<QfffhhBB', self.time_usec, self.flow_comp_m_x, self.flow_comp_m_y, self.ground_distance, self.flow_x, self.flow_y, self.sensor_id, self.quality)) | |
| class MAVLink_global_vision_position_estimate_message(MAVLink_message): | |
| ''' | |
| ''' | |
| def __init__(self, usec, x, y, z, roll, pitch, yaw): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, 'GLOBAL_VISION_POSITION_ESTIMATE') | |
| self._fieldnames = ['usec', 'x', 'y', 'z', 'roll', 'pitch', 'yaw'] | |
| self.usec = usec | |
| self.x = x | |
| self.y = y | |
| self.z = z | |
| self.roll = roll | |
| self.pitch = pitch | |
| self.yaw = yaw | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 102, struct.pack('<Qffffff', self.usec, self.x, self.y, self.z, self.roll, self.pitch, self.yaw)) | |
| class MAVLink_vision_position_estimate_message(MAVLink_message): | |
| ''' | |
| ''' | |
| def __init__(self, usec, x, y, z, roll, pitch, yaw): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, 'VISION_POSITION_ESTIMATE') | |
| self._fieldnames = ['usec', 'x', 'y', 'z', 'roll', 'pitch', 'yaw'] | |
| self.usec = usec | |
| self.x = x | |
| self.y = y | |
| self.z = z | |
| self.roll = roll | |
| self.pitch = pitch | |
| self.yaw = yaw | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 158, struct.pack('<Qffffff', self.usec, self.x, self.y, self.z, self.roll, self.pitch, self.yaw)) | |
| class MAVLink_vision_speed_estimate_message(MAVLink_message): | |
| ''' | |
| ''' | |
| def __init__(self, usec, x, y, z): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, 'VISION_SPEED_ESTIMATE') | |
| self._fieldnames = ['usec', 'x', 'y', 'z'] | |
| self.usec = usec | |
| self.x = x | |
| self.y = y | |
| self.z = z | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 208, struct.pack('<Qfff', self.usec, self.x, self.y, self.z)) | |
| class MAVLink_vicon_position_estimate_message(MAVLink_message): | |
| ''' | |
| ''' | |
| def __init__(self, usec, x, y, z, roll, pitch, yaw): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, 'VICON_POSITION_ESTIMATE') | |
| self._fieldnames = ['usec', 'x', 'y', 'z', 'roll', 'pitch', 'yaw'] | |
| self.usec = usec | |
| self.x = x | |
| self.y = y | |
| self.z = z | |
| self.roll = roll | |
| self.pitch = pitch | |
| self.yaw = yaw | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 56, struct.pack('<Qffffff', self.usec, self.x, self.y, self.z, self.roll, self.pitch, self.yaw)) | |
| class MAVLink_highres_imu_message(MAVLink_message): | |
| ''' | |
| The IMU readings in SI units in NED body frame | |
| ''' | |
| def __init__(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag, abs_pressure, diff_pressure, pressure_alt, temperature, fields_updated): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIGHRES_IMU, 'HIGHRES_IMU') | |
| self._fieldnames = ['time_usec', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag', 'abs_pressure', 'diff_pressure', 'pressure_alt', 'temperature', 'fields_updated'] | |
| self.time_usec = time_usec | |
| self.xacc = xacc | |
| self.yacc = yacc | |
| self.zacc = zacc | |
| self.xgyro = xgyro | |
| self.ygyro = ygyro | |
| self.zgyro = zgyro | |
| self.xmag = xmag | |
| self.ymag = ymag | |
| self.zmag = zmag | |
| self.abs_pressure = abs_pressure | |
| self.diff_pressure = diff_pressure | |
| self.pressure_alt = pressure_alt | |
| self.temperature = temperature | |
| self.fields_updated = fields_updated | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 93, struct.pack('<QfffffffffffffH', self.time_usec, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag, self.abs_pressure, self.diff_pressure, self.pressure_alt, self.temperature, self.fields_updated)) | |
| class MAVLink_omnidirectional_flow_message(MAVLink_message): | |
| ''' | |
| Optical flow from an omnidirectional flow sensor (e.g. PX4FLOW | |
| with wide angle lens) | |
| ''' | |
| def __init__(self, time_usec, sensor_id, left, right, quality, front_distance_m): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, 'OMNIDIRECTIONAL_FLOW') | |
| self._fieldnames = ['time_usec', 'sensor_id', 'left', 'right', 'quality', 'front_distance_m'] | |
| self.time_usec = time_usec | |
| self.sensor_id = sensor_id | |
| self.left = left | |
| self.right = right | |
| self.quality = quality | |
| self.front_distance_m = front_distance_m | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 211, struct.pack('<Qf10h10hBB', self.time_usec, self.front_distance_m, self.left, self.right, self.sensor_id, self.quality)) | |
| class MAVLink_file_transfer_start_message(MAVLink_message): | |
| ''' | |
| Begin file transfer | |
| ''' | |
| def __init__(self, transfer_uid, dest_path, direction, file_size, flags): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_FILE_TRANSFER_START, 'FILE_TRANSFER_START') | |
| self._fieldnames = ['transfer_uid', 'dest_path', 'direction', 'file_size', 'flags'] | |
| self.transfer_uid = transfer_uid | |
| self.dest_path = dest_path | |
| self.direction = direction | |
| self.file_size = file_size | |
| self.flags = flags | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 235, struct.pack('<QI240sBB', self.transfer_uid, self.file_size, self.dest_path, self.direction, self.flags)) | |
| class MAVLink_file_transfer_dir_list_message(MAVLink_message): | |
| ''' | |
| Get directory listing | |
| ''' | |
| def __init__(self, transfer_uid, dir_path, flags): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, 'FILE_TRANSFER_DIR_LIST') | |
| self._fieldnames = ['transfer_uid', 'dir_path', 'flags'] | |
| self.transfer_uid = transfer_uid | |
| self.dir_path = dir_path | |
| self.flags = flags | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 93, struct.pack('<Q240sB', self.transfer_uid, self.dir_path, self.flags)) | |
| class MAVLink_file_transfer_res_message(MAVLink_message): | |
| ''' | |
| File transfer result | |
| ''' | |
| def __init__(self, transfer_uid, result): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_FILE_TRANSFER_RES, 'FILE_TRANSFER_RES') | |
| self._fieldnames = ['transfer_uid', 'result'] | |
| self.transfer_uid = transfer_uid | |
| self.result = result | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 124, struct.pack('<QB', self.transfer_uid, self.result)) | |
| class MAVLink_battery_status_message(MAVLink_message): | |
| ''' | |
| Transmitte battery informations for a accu pack. | |
| ''' | |
| def __init__(self, accu_id, voltage_cell_1, voltage_cell_2, voltage_cell_3, voltage_cell_4, voltage_cell_5, voltage_cell_6, current_battery, battery_remaining): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_BATTERY_STATUS, 'BATTERY_STATUS') | |
| self._fieldnames = ['accu_id', 'voltage_cell_1', 'voltage_cell_2', 'voltage_cell_3', 'voltage_cell_4', 'voltage_cell_5', 'voltage_cell_6', 'current_battery', 'battery_remaining'] | |
| self.accu_id = accu_id | |
| self.voltage_cell_1 = voltage_cell_1 | |
| self.voltage_cell_2 = voltage_cell_2 | |
| self.voltage_cell_3 = voltage_cell_3 | |
| self.voltage_cell_4 = voltage_cell_4 | |
| self.voltage_cell_5 = voltage_cell_5 | |
| self.voltage_cell_6 = voltage_cell_6 | |
| self.current_battery = current_battery | |
| self.battery_remaining = battery_remaining | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 42, struct.pack('<HHHHHHhBb', self.voltage_cell_1, self.voltage_cell_2, self.voltage_cell_3, self.voltage_cell_4, self.voltage_cell_5, self.voltage_cell_6, self.current_battery, self.accu_id, self.battery_remaining)) | |
| class MAVLink_setpoint_8dof_message(MAVLink_message): | |
| ''' | |
| Set the 8 DOF setpoint for a controller. | |
| ''' | |
| def __init__(self, target_system, val1, val2, val3, val4, val5, val6, val7, val8): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SETPOINT_8DOF, 'SETPOINT_8DOF') | |
| self._fieldnames = ['target_system', 'val1', 'val2', 'val3', 'val4', 'val5', 'val6', 'val7', 'val8'] | |
| self.target_system = target_system | |
| self.val1 = val1 | |
| self.val2 = val2 | |
| self.val3 = val3 | |
| self.val4 = val4 | |
| self.val5 = val5 | |
| self.val6 = val6 | |
| self.val7 = val7 | |
| self.val8 = val8 | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 241, struct.pack('<ffffffffB', self.val1, self.val2, self.val3, self.val4, self.val5, self.val6, self.val7, self.val8, self.target_system)) | |
| class MAVLink_setpoint_6dof_message(MAVLink_message): | |
| ''' | |
| Set the 6 DOF setpoint for a attitude and position controller. | |
| ''' | |
| def __init__(self, target_system, trans_x, trans_y, trans_z, rot_x, rot_y, rot_z): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_SETPOINT_6DOF, 'SETPOINT_6DOF') | |
| self._fieldnames = ['target_system', 'trans_x', 'trans_y', 'trans_z', 'rot_x', 'rot_y', 'rot_z'] | |
| self.target_system = target_system | |
| self.trans_x = trans_x | |
| self.trans_y = trans_y | |
| self.trans_z = trans_z | |
| self.rot_x = rot_x | |
| self.rot_y = rot_y | |
| self.rot_z = rot_z | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 15, struct.pack('<ffffffB', self.trans_x, self.trans_y, self.trans_z, self.rot_x, self.rot_y, self.rot_z, self.target_system)) | |
| class MAVLink_memory_vect_message(MAVLink_message): | |
| ''' | |
| Send raw controller memory. The use of this message is | |
| discouraged for normal packets, but a quite efficient way for | |
| testing new messages and getting experimental debug output. | |
| ''' | |
| def __init__(self, address, ver, type, value): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_MEMORY_VECT, 'MEMORY_VECT') | |
| self._fieldnames = ['address', 'ver', 'type', 'value'] | |
| self.address = address | |
| self.ver = ver | |
| self.type = type | |
| self.value = value | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 204, struct.pack('<HBB32s', self.address, self.ver, self.type, self.value)) | |
| class MAVLink_debug_vect_message(MAVLink_message): | |
| ''' | |
| ''' | |
| def __init__(self, name, time_usec, x, y, z): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_DEBUG_VECT, 'DEBUG_VECT') | |
| self._fieldnames = ['name', 'time_usec', 'x', 'y', 'z'] | |
| self.name = name | |
| self.time_usec = time_usec | |
| self.x = x | |
| self.y = y | |
| self.z = z | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 49, struct.pack('<Qfff10s', self.time_usec, self.x, self.y, self.z, self.name)) | |
| class MAVLink_named_value_float_message(MAVLink_message): | |
| ''' | |
| Send a key-value pair as float. The use of this message is | |
| discouraged for normal packets, but a quite efficient way for | |
| testing new messages and getting experimental debug output. | |
| ''' | |
| def __init__(self, time_boot_ms, name, value): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 'NAMED_VALUE_FLOAT') | |
| self._fieldnames = ['time_boot_ms', 'name', 'value'] | |
| self.time_boot_ms = time_boot_ms | |
| self.name = name | |
| self.value = value | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 170, struct.pack('<If10s', self.time_boot_ms, self.value, self.name)) | |
| class MAVLink_named_value_int_message(MAVLink_message): | |
| ''' | |
| Send a key-value pair as integer. The use of this message is | |
| discouraged for normal packets, but a quite efficient way for | |
| testing new messages and getting experimental debug output. | |
| ''' | |
| def __init__(self, time_boot_ms, name, value): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAMED_VALUE_INT, 'NAMED_VALUE_INT') | |
| self._fieldnames = ['time_boot_ms', 'name', 'value'] | |
| self.time_boot_ms = time_boot_ms | |
| self.name = name | |
| self.value = value | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 44, struct.pack('<Ii10s', self.time_boot_ms, self.value, self.name)) | |
| class MAVLink_statustext_message(MAVLink_message): | |
| ''' | |
| Status text message. These messages are printed in yellow in | |
| the COMM console of QGroundControl. WARNING: They consume | |
| quite some bandwidth, so use only for important status and | |
| error messages. If implemented wisely, these messages are | |
| buffered on the MCU and sent only at a limited rate (e.g. 10 | |
| Hz). | |
| ''' | |
| def __init__(self, severity, text): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_STATUSTEXT, 'STATUSTEXT') | |
| self._fieldnames = ['severity', 'text'] | |
| self.severity = severity | |
| self.text = text | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 83, struct.pack('<B50s', self.severity, self.text)) | |
| class MAVLink_debug_message(MAVLink_message): | |
| ''' | |
| Send a debug value. The index is used to discriminate between | |
| values. These values show up in the plot of QGroundControl as | |
| DEBUG N. | |
| ''' | |
| def __init__(self, time_boot_ms, ind, value): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_DEBUG, 'DEBUG') | |
| self._fieldnames = ['time_boot_ms', 'ind', 'value'] | |
| self.time_boot_ms = time_boot_ms | |
| self.ind = ind | |
| self.value = value | |
| def pack(self, mav): | |
| return MAVLink_message.pack(self, mav, 46, struct.pack('<IfB', self.time_boot_ms, self.value, self.ind)) | |
| mavlink_map = { | |
| MAVLINK_MSG_ID_SENSOR_OFFSETS : ( '<fiiffffffhhh', MAVLink_sensor_offsets_message, [9, 10, 11, 0, 1, 2, 3, 4, 5, 6, 7, 8], 134 ), | |
| MAVLINK_MSG_ID_SET_MAG_OFFSETS : ( '<hhhBB', MAVLink_set_mag_offsets_message, [3, 4, 0, 1, 2], 219 ), | |
| MAVLINK_MSG_ID_MEMINFO : ( '<HH', MAVLink_meminfo_message, [0, 1], 208 ), | |
| MAVLINK_MSG_ID_AP_ADC : ( '<HHHHHH', MAVLink_ap_adc_message, [0, 1, 2, 3, 4, 5], 188 ), | |
| MAVLINK_MSG_ID_DIGICAM_CONFIGURE : ( '<fHBBBBBBBBB', MAVLink_digicam_configure_message, [2, 3, 4, 1, 5, 6, 7, 8, 9, 10, 0], 84 ), | |
| MAVLINK_MSG_ID_DIGICAM_CONTROL : ( '<fBBBBbBBBB', MAVLink_digicam_control_message, [1, 2, 3, 4, 5, 6, 7, 8, 9, 0], 22 ), | |
| MAVLINK_MSG_ID_MOUNT_CONFIGURE : ( '<BBBBBB', MAVLink_mount_configure_message, [0, 1, 2, 3, 4, 5], 19 ), | |
| MAVLINK_MSG_ID_MOUNT_CONTROL : ( '<iiiBBB', MAVLink_mount_control_message, [3, 4, 0, 1, 2, 5], 21 ), | |
| MAVLINK_MSG_ID_MOUNT_STATUS : ( '<iiiBB', MAVLink_mount_status_message, [3, 4, 0, 1, 2], 134 ), | |
| MAVLINK_MSG_ID_FENCE_POINT : ( '<ffBBBB', MAVLink_fence_point_message, [2, 3, 4, 5, 0, 1], 78 ), | |
| MAVLINK_MSG_ID_FENCE_FETCH_POINT : ( '<BBB', MAVLink_fence_fetch_point_message, [0, 1, 2], 68 ), | |
| MAVLINK_MSG_ID_FENCE_STATUS : ( '<IHBB', MAVLink_fence_status_message, [2, 1, 3, 0], 189 ), | |
| MAVLINK_MSG_ID_AHRS : ( '<fffffff', MAVLink_ahrs_message, [0, 1, 2, 3, 4, 5, 6], 127 ), | |
| MAVLINK_MSG_ID_SIMSTATE : ( '<fffffffffff', MAVLink_simstate_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], 111 ), | |
| MAVLINK_MSG_ID_HWSTATUS : ( '<HB', MAVLink_hwstatus_message, [0, 1], 21 ), | |
| MAVLINK_MSG_ID_RADIO : ( '<HHBBBBB', MAVLink_radio_message, [2, 3, 4, 5, 6, 0, 1], 21 ), | |
| MAVLINK_MSG_ID_LIMITS_STATUS : ( '<IIIIHBBBB', MAVLink_limits_status_message, [5, 0, 1, 2, 3, 4, 6, 7, 8], 144 ), | |
| MAVLINK_MSG_ID_WIND : ( '<fff', MAVLink_wind_message, [0, 1, 2], 1 ), | |
| MAVLINK_MSG_ID_DATA16 : ( '<BB16s', MAVLink_data16_message, [0, 1, 2], 234 ), | |
| MAVLINK_MSG_ID_DATA32 : ( '<BB32s', MAVLink_data32_message, [0, 1, 2], 73 ), | |
| MAVLINK_MSG_ID_DATA64 : ( '<BB64s', MAVLink_data64_message, [0, 1, 2], 181 ), | |
| MAVLINK_MSG_ID_DATA96 : ( '<BB96s', MAVLink_data96_message, [0, 1, 2], 22 ), | |
| MAVLINK_MSG_ID_RANGEFINDER : ( '<ff', MAVLink_rangefinder_message, [0, 1], 83 ), | |
| MAVLINK_MSG_ID_HEARTBEAT : ( '<IBBBBB', MAVLink_heartbeat_message, [1, 2, 3, 0, 4, 5], 50 ), | |
| MAVLINK_MSG_ID_SYS_STATUS : ( '<IIIHHhHHHHHHb', MAVLink_sys_status_message, [0, 1, 2, 3, 4, 5, 12, 6, 7, 8, 9, 10, 11], 124 ), | |
| MAVLINK_MSG_ID_SYSTEM_TIME : ( '<QI', MAVLink_system_time_message, [0, 1], 137 ), | |
| MAVLINK_MSG_ID_PING : ( '<QIBB', MAVLink_ping_message, [0, 1, 2, 3], 237 ), | |
| MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL : ( '<BBB25s', MAVLink_change_operator_control_message, [0, 1, 2, 3], 217 ), | |
| MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK : ( '<BBB', MAVLink_change_operator_control_ack_message, [0, 1, 2], 104 ), | |
| MAVLINK_MSG_ID_AUTH_KEY : ( '<32s', MAVLink_auth_key_message, [0], 119 ), | |
| MAVLINK_MSG_ID_SET_MODE : ( '<IBB', MAVLink_set_mode_message, [1, 2, 0], 89 ), | |
| MAVLINK_MSG_ID_PARAM_REQUEST_READ : ( '<hBB16s', MAVLink_param_request_read_message, [1, 2, 3, 0], 214 ), | |
| MAVLINK_MSG_ID_PARAM_REQUEST_LIST : ( '<BB', MAVLink_param_request_list_message, [0, 1], 159 ), | |
| MAVLINK_MSG_ID_PARAM_VALUE : ( '<fHH16sB', MAVLink_param_value_message, [3, 0, 4, 1, 2], 220 ), | |
| MAVLINK_MSG_ID_PARAM_SET : ( '<fBB16sB', MAVLink_param_set_message, [1, 2, 3, 0, 4], 168 ), | |
| MAVLINK_MSG_ID_GPS_RAW_INT : ( '<QiiiHHHHBB', MAVLink_gps_raw_int_message, [0, 8, 1, 2, 3, 4, 5, 6, 7, 9], 24 ), | |
| MAVLINK_MSG_ID_GPS_STATUS : ( '<B20s20s20s20s20s', MAVLink_gps_status_message, [0, 1, 2, 3, 4, 5], 23 ), | |
| MAVLINK_MSG_ID_SCALED_IMU : ( '<Ihhhhhhhhh', MAVLink_scaled_imu_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 170 ), | |
| MAVLINK_MSG_ID_RAW_IMU : ( '<Qhhhhhhhhh', MAVLink_raw_imu_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 144 ), | |
| MAVLINK_MSG_ID_RAW_PRESSURE : ( '<Qhhhh', MAVLink_raw_pressure_message, [0, 1, 2, 3, 4], 67 ), | |
| MAVLINK_MSG_ID_SCALED_PRESSURE : ( '<Iffh', MAVLink_scaled_pressure_message, [0, 1, 2, 3], 115 ), | |
| MAVLINK_MSG_ID_ATTITUDE : ( '<Iffffff', MAVLink_attitude_message, [0, 1, 2, 3, 4, 5, 6], 39 ), | |
| MAVLINK_MSG_ID_ATTITUDE_QUATERNION : ( '<Ifffffff', MAVLink_attitude_quaternion_message, [0, 1, 2, 3, 4, 5, 6, 7], 246 ), | |
| MAVLINK_MSG_ID_LOCAL_POSITION_NED : ( '<Iffffff', MAVLink_local_position_ned_message, [0, 1, 2, 3, 4, 5, 6], 185 ), | |
| MAVLINK_MSG_ID_GLOBAL_POSITION_INT : ( '<IiiiihhhH', MAVLink_global_position_int_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 104 ), | |
| MAVLINK_MSG_ID_RC_CHANNELS_SCALED : ( '<IhhhhhhhhBB', MAVLink_rc_channels_scaled_message, [0, 9, 1, 2, 3, 4, 5, 6, 7, 8, 10], 237 ), | |
| MAVLINK_MSG_ID_RC_CHANNELS_RAW : ( '<IHHHHHHHHBB', MAVLink_rc_channels_raw_message, [0, 9, 1, 2, 3, 4, 5, 6, 7, 8, 10], 244 ), | |
| MAVLINK_MSG_ID_SERVO_OUTPUT_RAW : ( '<IHHHHHHHHB', MAVLink_servo_output_raw_message, [0, 9, 1, 2, 3, 4, 5, 6, 7, 8], 222 ), | |
| MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST : ( '<hhBB', MAVLink_mission_request_partial_list_message, [2, 3, 0, 1], 212 ), | |
| MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST : ( '<hhBB', MAVLink_mission_write_partial_list_message, [2, 3, 0, 1], 9 ), | |
| MAVLINK_MSG_ID_MISSION_ITEM : ( '<fffffffHHBBBBB', MAVLink_mission_item_message, [9, 10, 7, 11, 8, 12, 13, 0, 1, 2, 3, 4, 5, 6], 254 ), | |
| MAVLINK_MSG_ID_MISSION_REQUEST : ( '<HBB', MAVLink_mission_request_message, [1, 2, 0], 230 ), | |
| MAVLINK_MSG_ID_MISSION_SET_CURRENT : ( '<HBB', MAVLink_mission_set_current_message, [1, 2, 0], 28 ), | |
| MAVLINK_MSG_ID_MISSION_CURRENT : ( '<H', MAVLink_mission_current_message, [0], 28 ), | |
| MAVLINK_MSG_ID_MISSION_REQUEST_LIST : ( '<BB', MAVLink_mission_request_list_message, [0, 1], 132 ), | |
| MAVLINK_MSG_ID_MISSION_COUNT : ( '<HBB', MAVLink_mission_count_message, [1, 2, 0], 221 ), | |
| MAVLINK_MSG_ID_MISSION_CLEAR_ALL : ( '<BB', MAVLink_mission_clear_all_message, [0, 1], 232 ), | |
| MAVLINK_MSG_ID_MISSION_ITEM_REACHED : ( '<H', MAVLink_mission_item_reached_message, [0], 11 ), | |
| MAVLINK_MSG_ID_MISSION_ACK : ( '<BBB', MAVLink_mission_ack_message, [0, 1, 2], 153 ), | |
| MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN : ( '<iiiB', MAVLink_set_gps_global_origin_message, [3, 0, 1, 2], 41 ), | |
| MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN : ( '<iii', MAVLink_gps_global_origin_message, [0, 1, 2], 39 ), | |
| MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT : ( '<ffffBBB', MAVLink_set_local_position_setpoint_message, [4, 5, 6, 0, 1, 2, 3], 214 ), | |
| MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT : ( '<ffffB', MAVLink_local_position_setpoint_message, [4, 0, 1, 2, 3], 223 ), | |
| MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT : ( '<iiihB', MAVLink_global_position_setpoint_int_message, [4, 0, 1, 2, 3], 141 ), | |
| MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT : ( '<iiihB', MAVLink_set_global_position_setpoint_int_message, [4, 0, 1, 2, 3], 33 ), | |
| MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA : ( '<ffffffBBB', MAVLink_safety_set_allowed_area_message, [6, 7, 8, 0, 1, 2, 3, 4, 5], 15 ), | |
| MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA : ( '<ffffffB', MAVLink_safety_allowed_area_message, [6, 0, 1, 2, 3, 4, 5], 3 ), | |
| MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST : ( '<ffffBB', MAVLink_set_roll_pitch_yaw_thrust_message, [4, 5, 0, 1, 2, 3], 100 ), | |
| MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST : ( '<ffffBB', MAVLink_set_roll_pitch_yaw_speed_thrust_message, [4, 5, 0, 1, 2, 3], 24 ), | |
| MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT : ( '<Iffff', MAVLink_roll_pitch_yaw_thrust_setpoint_message, [0, 1, 2, 3, 4], 239 ), | |
| MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT : ( '<Iffff', MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message, [0, 1, 2, 3, 4], 238 ), | |
| MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT : ( '<HHHHB', MAVLink_set_quad_motors_setpoint_message, [4, 0, 1, 2, 3], 30 ), | |
| MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST : ( '<4h4h4h4HBB', MAVLink_set_quad_swarm_roll_pitch_yaw_thrust_message, [4, 5, 0, 1, 2, 3], 240 ), | |
| MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT : ( '<fffffhhH', MAVLink_nav_controller_output_message, [0, 1, 5, 6, 7, 2, 3, 4], 183 ), | |
| MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST : ( '<4h4h4h4HBB4s4s4s', MAVLink_set_quad_swarm_led_roll_pitch_yaw_thrust_message, [4, 5, 6, 7, 8, 0, 1, 2, 3], 130 ), | |
| MAVLINK_MSG_ID_STATE_CORRECTION : ( '<fffffffff', MAVLink_state_correction_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 130 ), | |
| MAVLINK_MSG_ID_REQUEST_DATA_STREAM : ( '<HBBBB', MAVLink_request_data_stream_message, [1, 2, 3, 0, 4], 148 ), | |
| MAVLINK_MSG_ID_DATA_STREAM : ( '<HBB', MAVLink_data_stream_message, [1, 0, 2], 21 ), | |
| MAVLINK_MSG_ID_MANUAL_CONTROL : ( '<hhhhHB', MAVLink_manual_control_message, [5, 0, 1, 2, 3, 4], 243 ), | |
| MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE : ( '<HHHHHHHHBB', MAVLink_rc_channels_override_message, [8, 9, 0, 1, 2, 3, 4, 5, 6, 7], 124 ), | |
| MAVLINK_MSG_ID_VFR_HUD : ( '<ffffhH', MAVLink_vfr_hud_message, [0, 1, 4, 5, 2, 3], 20 ), | |
| MAVLINK_MSG_ID_COMMAND_LONG : ( '<fffffffHBBB', MAVLink_command_long_message, [8, 9, 7, 10, 0, 1, 2, 3, 4, 5, 6], 152 ), | |
| MAVLINK_MSG_ID_COMMAND_ACK : ( '<HB', MAVLink_command_ack_message, [0, 1], 143 ), | |
| MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT : ( '<Iffff', MAVLink_roll_pitch_yaw_rates_thrust_setpoint_message, [0, 1, 2, 3, 4], 127 ), | |
| MAVLINK_MSG_ID_MANUAL_SETPOINT : ( '<IffffBB', MAVLink_manual_setpoint_message, [0, 1, 2, 3, 4, 5, 6], 106 ), | |
| MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET : ( '<Iffffff', MAVLink_local_position_ned_system_global_offset_message, [0, 1, 2, 3, 4, 5, 6], 231 ), | |
| MAVLINK_MSG_ID_HIL_STATE : ( '<Qffffffiiihhhhhh', MAVLink_hil_state_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], 183 ), | |
| MAVLINK_MSG_ID_HIL_CONTROLS : ( '<QffffffffBB', MAVLink_hil_controls_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], 63 ), | |
| MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW : ( '<QHHHHHHHHHHHHB', MAVLink_hil_rc_inputs_raw_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], 54 ), | |
| MAVLINK_MSG_ID_OPTICAL_FLOW : ( '<QfffhhBB', MAVLink_optical_flow_message, [0, 6, 4, 5, 1, 2, 7, 3], 175 ), | |
| MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE : ( '<Qffffff', MAVLink_global_vision_position_estimate_message, [0, 1, 2, 3, 4, 5, 6], 102 ), | |
| MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE : ( '<Qffffff', MAVLink_vision_position_estimate_message, [0, 1, 2, 3, 4, 5, 6], 158 ), | |
| MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE : ( '<Qfff', MAVLink_vision_speed_estimate_message, [0, 1, 2, 3], 208 ), | |
| MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE : ( '<Qffffff', MAVLink_vicon_position_estimate_message, [0, 1, 2, 3, 4, 5, 6], 56 ), | |
| MAVLINK_MSG_ID_HIGHRES_IMU : ( '<QfffffffffffffH', MAVLink_highres_imu_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14], 93 ), | |
| MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW : ( '<Qf10h10hBB', MAVLink_omnidirectional_flow_message, [0, 4, 2, 3, 5, 1], 211 ), | |
| MAVLINK_MSG_ID_FILE_TRANSFER_START : ( '<QI240sBB', MAVLink_file_transfer_start_message, [0, 2, 3, 1, 4], 235 ), | |
| MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST : ( '<Q240sB', MAVLink_file_transfer_dir_list_message, [0, 1, 2], 93 ), | |
| MAVLINK_MSG_ID_FILE_TRANSFER_RES : ( '<QB', MAVLink_file_transfer_res_message, [0, 1], 124 ), | |
| MAVLINK_MSG_ID_BATTERY_STATUS : ( '<HHHHHHhBb', MAVLink_battery_status_message, [7, 0, 1, 2, 3, 4, 5, 6, 8], 42 ), | |
| MAVLINK_MSG_ID_SETPOINT_8DOF : ( '<ffffffffB', MAVLink_setpoint_8dof_message, [8, 0, 1, 2, 3, 4, 5, 6, 7], 241 ), | |
| MAVLINK_MSG_ID_SETPOINT_6DOF : ( '<ffffffB', MAVLink_setpoint_6dof_message, [6, 0, 1, 2, 3, 4, 5], 15 ), | |
| MAVLINK_MSG_ID_MEMORY_VECT : ( '<HBB32s', MAVLink_memory_vect_message, [0, 1, 2, 3], 204 ), | |
| MAVLINK_MSG_ID_DEBUG_VECT : ( '<Qfff10s', MAVLink_debug_vect_message, [4, 0, 1, 2, 3], 49 ), | |
| MAVLINK_MSG_ID_NAMED_VALUE_FLOAT : ( '<If10s', MAVLink_named_value_float_message, [0, 2, 1], 170 ), | |
| MAVLINK_MSG_ID_NAMED_VALUE_INT : ( '<Ii10s', MAVLink_named_value_int_message, [0, 2, 1], 44 ), | |
| MAVLINK_MSG_ID_STATUSTEXT : ( '<B50s', MAVLink_statustext_message, [0, 1], 83 ), | |
| MAVLINK_MSG_ID_DEBUG : ( '<IfB', MAVLink_debug_message, [0, 2, 1], 46 ), | |
| } | |
| class MAVError(Exception): | |
| '''MAVLink error class''' | |
| def __init__(self, msg): | |
| Exception.__init__(self, msg) | |
| self.message = msg | |
| class MAVString(str): | |
| '''NUL terminated string''' | |
| def __init__(self, s): | |
| str.__init__(self) | |
| def __str__(self): | |
| i = self.find(chr(0)) | |
| if i == -1: | |
| return self[:] | |
| return self[0:i] | |
| class MAVLink_bad_data(MAVLink_message): | |
| ''' | |
| a piece of bad data in a mavlink stream | |
| ''' | |
| def __init__(self, data, reason): | |
| MAVLink_message.__init__(self, MAVLINK_MSG_ID_BAD_DATA, 'BAD_DATA') | |
| self._fieldnames = ['data', 'reason'] | |
| self.data = data | |
| self.reason = reason | |
| self._msgbuf = data | |
| class MAVLink(object): | |
| '''MAVLink protocol handling class''' | |
| def __init__(self, file, srcSystem=0, srcComponent=0): | |
| self.seq = 0 | |
| self.file = file | |
| self.srcSystem = srcSystem | |
| self.srcComponent = srcComponent | |
| self.callback = None | |
| self.callback_args = None | |
| self.callback_kwargs = None | |
| self.buf = array.array('B') | |
| self.expected_length = 6 | |
| self.have_prefix_error = False | |
| self.robust_parsing = False | |
| self.protocol_marker = 254 | |
| self.little_endian = True | |
| self.crc_extra = True | |
| self.sort_fields = True | |
| self.total_packets_sent = 0 | |
| self.total_bytes_sent = 0 | |
| self.total_packets_received = 0 | |
| self.total_bytes_received = 0 | |
| self.total_receive_errors = 0 | |
| self.startup_time = time.time() | |
| def set_callback(self, callback, *args, **kwargs): | |
| self.callback = callback | |
| self.callback_args = args | |
| self.callback_kwargs = kwargs | |
| def send(self, mavmsg): | |
| '''send a MAVLink message''' | |
| buf = mavmsg.pack(self) | |
| self.file.write(buf) | |
| self.seq = (self.seq + 1) % 255 | |
| self.total_packets_sent += 1 | |
| self.total_bytes_sent += len(buf) | |
| def bytes_needed(self): | |
| '''return number of bytes needed for next parsing stage''' | |
| ret = self.expected_length - len(self.buf) | |
| if ret <= 0: | |
| return 1 | |
| return ret | |
| def parse_char(self, c): | |
| '''input some data bytes, possibly returning a new message''' | |
| if isinstance(c, str): | |
| self.buf.fromstring(c) | |
| else: | |
| self.buf.extend(c) | |
| self.total_bytes_received += len(c) | |
| if len(self.buf) >= 1 and self.buf[0] != 254: | |
| magic = self.buf[0] | |
| self.buf = self.buf[1:] | |
| if self.robust_parsing: | |
| m = MAVLink_bad_data(chr(magic), "Bad prefix") | |
| if self.callback: | |
| self.callback(m, *self.callback_args, **self.callback_kwargs) | |
| self.expected_length = 6 | |
| self.total_receive_errors += 1 | |
| return m | |
| if self.have_prefix_error: | |
| return None | |
| self.have_prefix_error = True | |
| self.total_receive_errors += 1 | |
| raise MAVError("invalid MAVLink prefix '%s'" % magic) | |
| self.have_prefix_error = False | |
| if len(self.buf) >= 2: | |
| (magic, self.expected_length) = struct.unpack('BB', self.buf[0:2]) | |
| self.expected_length += 8 | |
| if self.expected_length >= 8 and len(self.buf) >= self.expected_length: | |
| mbuf = self.buf[0:self.expected_length] | |
| self.buf = self.buf[self.expected_length:] | |
| self.expected_length = 6 | |
| if self.robust_parsing: | |
| try: | |
| m = self.decode(mbuf) | |
| self.total_packets_received += 1 | |
| except MAVError as reason: | |
| m = MAVLink_bad_data(mbuf, reason.message) | |
| self.total_receive_errors += 1 | |
| else: | |
| m = self.decode(mbuf) | |
| self.total_packets_received += 1 | |
| if self.callback: | |
| self.callback(m, *self.callback_args, **self.callback_kwargs) | |
| return m | |
| return None | |
| def parse_buffer(self, s): | |
| '''input some data bytes, possibly returning a list of new messages''' | |
| m = self.parse_char(s) | |
| if m is None: | |
| return None | |
| ret = [m] | |
| while True: | |
| m = self.parse_char("") | |
| if m is None: | |
| return ret | |
| ret.append(m) | |
| return ret | |
| def decode(self, msgbuf): | |
| '''decode a buffer as a MAVLink message''' | |
| # decode the header | |
| try: | |
| magic, mlen, seq, srcSystem, srcComponent, msgId = struct.unpack('cBBBBB', msgbuf[:6]) | |
| except struct.error as emsg: | |
| raise MAVError('Unable to unpack MAVLink header: %s' % emsg) | |
| if ord(magic) != 254: | |
| raise MAVError("invalid MAVLink prefix '%s'" % magic) | |
| if mlen != len(msgbuf)-8: | |
| raise MAVError('invalid MAVLink message length. Got %u expected %u, msgId=%u' % (len(msgbuf)-8, mlen, msgId)) | |
| if not msgId in mavlink_map: | |
| raise MAVError('unknown MAVLink message ID %u' % msgId) | |
| # decode the payload | |
| (fmt, type, order_map, crc_extra) = mavlink_map[msgId] | |
| # decode the checksum | |
| try: | |
| crc, = struct.unpack('<H', msgbuf[-2:]) | |
| except struct.error as emsg: | |
| raise MAVError('Unable to unpack MAVLink CRC: %s' % emsg) | |
| crc2 = mavutil.x25crc(msgbuf[1:-2]) | |
| if True: # using CRC extra | |
| crc2.accumulate(chr(crc_extra)) | |
| if crc != crc2.crc: | |
| raise MAVError('invalid MAVLink CRC in msgID %u 0x%04x should be 0x%04x' % (msgId, crc, crc2.crc)) | |
| try: | |
| t = struct.unpack(fmt, msgbuf[6:-2]) | |
| except struct.error as emsg: | |
| raise MAVError('Unable to unpack MAVLink payload type=%s fmt=%s payloadLength=%u: %s' % ( | |
| type, fmt, len(msgbuf[6:-2]), emsg)) | |
| tlist = list(t) | |
| # handle sorted fields | |
| if True: | |
| t = tlist[:] | |
| for i in range(0, len(tlist)): | |
| tlist[i] = t[order_map[i]] | |
| # terminate any strings | |
| for i in range(0, len(tlist)): | |
| if isinstance(tlist[i], str): | |
| tlist[i] = MAVString(tlist[i]) | |
| t = tuple(tlist) | |
| # construct the message object | |
| try: | |
| m = type(*t) | |
| except Exception as emsg: | |
| raise MAVError('Unable to instantiate MAVLink message of type %s : %s' % (type, emsg)) | |
| m._msgbuf = msgbuf | |
| m._payload = msgbuf[6:-2] | |
| m._crc = crc | |
| m._header = MAVLink_header(msgId, mlen, seq, srcSystem, srcComponent) | |
| return m | |
| def sensor_offsets_encode(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z): | |
| ''' | |
| Offsets and calibrations values for hardware sensors. This | |
| makes it easier to debug the calibration process. | |
| mag_ofs_x : magnetometer X offset (int16_t) | |
| mag_ofs_y : magnetometer Y offset (int16_t) | |
| mag_ofs_z : magnetometer Z offset (int16_t) | |
| mag_declination : magnetic declination (radians) (float) | |
| raw_press : raw pressure from barometer (int32_t) | |
| raw_temp : raw temperature from barometer (int32_t) | |
| gyro_cal_x : gyro X calibration (float) | |
| gyro_cal_y : gyro Y calibration (float) | |
| gyro_cal_z : gyro Z calibration (float) | |
| accel_cal_x : accel X calibration (float) | |
| accel_cal_y : accel Y calibration (float) | |
| accel_cal_z : accel Z calibration (float) | |
| ''' | |
| msg = MAVLink_sensor_offsets_message(mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z) | |
| msg.pack(self) | |
| return msg | |
| def sensor_offsets_send(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z): | |
| ''' | |
| Offsets and calibrations values for hardware sensors. This | |
| makes it easier to debug the calibration process. | |
| mag_ofs_x : magnetometer X offset (int16_t) | |
| mag_ofs_y : magnetometer Y offset (int16_t) | |
| mag_ofs_z : magnetometer Z offset (int16_t) | |
| mag_declination : magnetic declination (radians) (float) | |
| raw_press : raw pressure from barometer (int32_t) | |
| raw_temp : raw temperature from barometer (int32_t) | |
| gyro_cal_x : gyro X calibration (float) | |
| gyro_cal_y : gyro Y calibration (float) | |
| gyro_cal_z : gyro Z calibration (float) | |
| accel_cal_x : accel X calibration (float) | |
| accel_cal_y : accel Y calibration (float) | |
| accel_cal_z : accel Z calibration (float) | |
| ''' | |
| return self.send(self.sensor_offsets_encode(mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z)) | |
| def set_mag_offsets_encode(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z): | |
| ''' | |
| set the magnetometer offsets | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| mag_ofs_x : magnetometer X offset (int16_t) | |
| mag_ofs_y : magnetometer Y offset (int16_t) | |
| mag_ofs_z : magnetometer Z offset (int16_t) | |
| ''' | |
| msg = MAVLink_set_mag_offsets_message(target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z) | |
| msg.pack(self) | |
| return msg | |
| def set_mag_offsets_send(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z): | |
| ''' | |
| set the magnetometer offsets | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| mag_ofs_x : magnetometer X offset (int16_t) | |
| mag_ofs_y : magnetometer Y offset (int16_t) | |
| mag_ofs_z : magnetometer Z offset (int16_t) | |
| ''' | |
| return self.send(self.set_mag_offsets_encode(target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z)) | |
| def meminfo_encode(self, brkval, freemem): | |
| ''' | |
| state of APM memory | |
| brkval : heap top (uint16_t) | |
| freemem : free memory (uint16_t) | |
| ''' | |
| msg = MAVLink_meminfo_message(brkval, freemem) | |
| msg.pack(self) | |
| return msg | |
| def meminfo_send(self, brkval, freemem): | |
| ''' | |
| state of APM memory | |
| brkval : heap top (uint16_t) | |
| freemem : free memory (uint16_t) | |
| ''' | |
| return self.send(self.meminfo_encode(brkval, freemem)) | |
| def ap_adc_encode(self, adc1, adc2, adc3, adc4, adc5, adc6): | |
| ''' | |
| raw ADC output | |
| adc1 : ADC output 1 (uint16_t) | |
| adc2 : ADC output 2 (uint16_t) | |
| adc3 : ADC output 3 (uint16_t) | |
| adc4 : ADC output 4 (uint16_t) | |
| adc5 : ADC output 5 (uint16_t) | |
| adc6 : ADC output 6 (uint16_t) | |
| ''' | |
| msg = MAVLink_ap_adc_message(adc1, adc2, adc3, adc4, adc5, adc6) | |
| msg.pack(self) | |
| return msg | |
| def ap_adc_send(self, adc1, adc2, adc3, adc4, adc5, adc6): | |
| ''' | |
| raw ADC output | |
| adc1 : ADC output 1 (uint16_t) | |
| adc2 : ADC output 2 (uint16_t) | |
| adc3 : ADC output 3 (uint16_t) | |
| adc4 : ADC output 4 (uint16_t) | |
| adc5 : ADC output 5 (uint16_t) | |
| adc6 : ADC output 6 (uint16_t) | |
| ''' | |
| return self.send(self.ap_adc_encode(adc1, adc2, adc3, adc4, adc5, adc6)) | |
| def digicam_configure_encode(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value): | |
| ''' | |
| Configure on-board Camera Control System. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| mode : Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) (uint8_t) | |
| shutter_speed : Divisor number //e.g. 1000 means 1/1000 (0 means ignore) (uint16_t) | |
| aperture : F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) (uint8_t) | |
| iso : ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) (uint8_t) | |
| exposure_type : Exposure type enumeration from 1 to N (0 means ignore) (uint8_t) | |
| command_id : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t) | |
| engine_cut_off : Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) (uint8_t) | |
| extra_param : Extra parameters enumeration (0 means ignore) (uint8_t) | |
| extra_value : Correspondent value to given extra_param (float) | |
| ''' | |
| msg = MAVLink_digicam_configure_message(target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value) | |
| msg.pack(self) | |
| return msg | |
| def digicam_configure_send(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value): | |
| ''' | |
| Configure on-board Camera Control System. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| mode : Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) (uint8_t) | |
| shutter_speed : Divisor number //e.g. 1000 means 1/1000 (0 means ignore) (uint16_t) | |
| aperture : F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) (uint8_t) | |
| iso : ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) (uint8_t) | |
| exposure_type : Exposure type enumeration from 1 to N (0 means ignore) (uint8_t) | |
| command_id : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t) | |
| engine_cut_off : Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) (uint8_t) | |
| extra_param : Extra parameters enumeration (0 means ignore) (uint8_t) | |
| extra_value : Correspondent value to given extra_param (float) | |
| ''' | |
| return self.send(self.digicam_configure_encode(target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value)) | |
| def digicam_control_encode(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value): | |
| ''' | |
| Control on-board Camera Control System to take shots. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| session : 0: stop, 1: start or keep it up //Session control e.g. show/hide lens (uint8_t) | |
| zoom_pos : 1 to N //Zoom's absolute position (0 means ignore) (uint8_t) | |
| zoom_step : -100 to 100 //Zooming step value to offset zoom from the current position (int8_t) | |
| focus_lock : 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus (uint8_t) | |
| shot : 0: ignore, 1: shot or start filming (uint8_t) | |
| command_id : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t) | |
| extra_param : Extra parameters enumeration (0 means ignore) (uint8_t) | |
| extra_value : Correspondent value to given extra_param (float) | |
| ''' | |
| msg = MAVLink_digicam_control_message(target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value) | |
| msg.pack(self) | |
| return msg | |
| def digicam_control_send(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value): | |
| ''' | |
| Control on-board Camera Control System to take shots. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| session : 0: stop, 1: start or keep it up //Session control e.g. show/hide lens (uint8_t) | |
| zoom_pos : 1 to N //Zoom's absolute position (0 means ignore) (uint8_t) | |
| zoom_step : -100 to 100 //Zooming step value to offset zoom from the current position (int8_t) | |
| focus_lock : 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus (uint8_t) | |
| shot : 0: ignore, 1: shot or start filming (uint8_t) | |
| command_id : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t) | |
| extra_param : Extra parameters enumeration (0 means ignore) (uint8_t) | |
| extra_value : Correspondent value to given extra_param (float) | |
| ''' | |
| return self.send(self.digicam_control_encode(target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value)) | |
| def mount_configure_encode(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw): | |
| ''' | |
| Message to configure a camera mount, directional antenna, etc. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| mount_mode : mount operating mode (see MAV_MOUNT_MODE enum) (uint8_t) | |
| stab_roll : (1 = yes, 0 = no) (uint8_t) | |
| stab_pitch : (1 = yes, 0 = no) (uint8_t) | |
| stab_yaw : (1 = yes, 0 = no) (uint8_t) | |
| ''' | |
| msg = MAVLink_mount_configure_message(target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw) | |
| msg.pack(self) | |
| return msg | |
| def mount_configure_send(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw): | |
| ''' | |
| Message to configure a camera mount, directional antenna, etc. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| mount_mode : mount operating mode (see MAV_MOUNT_MODE enum) (uint8_t) | |
| stab_roll : (1 = yes, 0 = no) (uint8_t) | |
| stab_pitch : (1 = yes, 0 = no) (uint8_t) | |
| stab_yaw : (1 = yes, 0 = no) (uint8_t) | |
| ''' | |
| return self.send(self.mount_configure_encode(target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw)) | |
| def mount_control_encode(self, target_system, target_component, input_a, input_b, input_c, save_position): | |
| ''' | |
| Message to control a camera mount, directional antenna, etc. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| input_a : pitch(deg*100) or lat, depending on mount mode (int32_t) | |
| input_b : roll(deg*100) or lon depending on mount mode (int32_t) | |
| input_c : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t) | |
| save_position : if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) (uint8_t) | |
| ''' | |
| msg = MAVLink_mount_control_message(target_system, target_component, input_a, input_b, input_c, save_position) | |
| msg.pack(self) | |
| return msg | |
| def mount_control_send(self, target_system, target_component, input_a, input_b, input_c, save_position): | |
| ''' | |
| Message to control a camera mount, directional antenna, etc. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| input_a : pitch(deg*100) or lat, depending on mount mode (int32_t) | |
| input_b : roll(deg*100) or lon depending on mount mode (int32_t) | |
| input_c : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t) | |
| save_position : if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) (uint8_t) | |
| ''' | |
| return self.send(self.mount_control_encode(target_system, target_component, input_a, input_b, input_c, save_position)) | |
| def mount_status_encode(self, target_system, target_component, pointing_a, pointing_b, pointing_c): | |
| ''' | |
| Message with some status from APM to GCS about camera or antenna mount | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| pointing_a : pitch(deg*100) or lat, depending on mount mode (int32_t) | |
| pointing_b : roll(deg*100) or lon depending on mount mode (int32_t) | |
| pointing_c : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t) | |
| ''' | |
| msg = MAVLink_mount_status_message(target_system, target_component, pointing_a, pointing_b, pointing_c) | |
| msg.pack(self) | |
| return msg | |
| def mount_status_send(self, target_system, target_component, pointing_a, pointing_b, pointing_c): | |
| ''' | |
| Message with some status from APM to GCS about camera or antenna mount | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| pointing_a : pitch(deg*100) or lat, depending on mount mode (int32_t) | |
| pointing_b : roll(deg*100) or lon depending on mount mode (int32_t) | |
| pointing_c : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t) | |
| ''' | |
| return self.send(self.mount_status_encode(target_system, target_component, pointing_a, pointing_b, pointing_c)) | |
| def fence_point_encode(self, target_system, target_component, idx, count, lat, lng): | |
| ''' | |
| A fence point. Used to set a point when from GCS -> MAV. | |
| Also used to return a point from MAV -> GCS | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| idx : point index (first point is 1, 0 is for return point) (uint8_t) | |
| count : total number of points (for sanity checking) (uint8_t) | |
| lat : Latitude of point (float) | |
| lng : Longitude of point (float) | |
| ''' | |
| msg = MAVLink_fence_point_message(target_system, target_component, idx, count, lat, lng) | |
| msg.pack(self) | |
| return msg | |
| def fence_point_send(self, target_system, target_component, idx, count, lat, lng): | |
| ''' | |
| A fence point. Used to set a point when from GCS -> MAV. | |
| Also used to return a point from MAV -> GCS | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| idx : point index (first point is 1, 0 is for return point) (uint8_t) | |
| count : total number of points (for sanity checking) (uint8_t) | |
| lat : Latitude of point (float) | |
| lng : Longitude of point (float) | |
| ''' | |
| return self.send(self.fence_point_encode(target_system, target_component, idx, count, lat, lng)) | |
| def fence_fetch_point_encode(self, target_system, target_component, idx): | |
| ''' | |
| Request a current fence point from MAV | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| idx : point index (first point is 1, 0 is for return point) (uint8_t) | |
| ''' | |
| msg = MAVLink_fence_fetch_point_message(target_system, target_component, idx) | |
| msg.pack(self) | |
| return msg | |
| def fence_fetch_point_send(self, target_system, target_component, idx): | |
| ''' | |
| Request a current fence point from MAV | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| idx : point index (first point is 1, 0 is for return point) (uint8_t) | |
| ''' | |
| return self.send(self.fence_fetch_point_encode(target_system, target_component, idx)) | |
| def fence_status_encode(self, breach_status, breach_count, breach_type, breach_time): | |
| ''' | |
| Status of geo-fencing. Sent in extended status stream when | |
| fencing enabled | |
| breach_status : 0 if currently inside fence, 1 if outside (uint8_t) | |
| breach_count : number of fence breaches (uint16_t) | |
| breach_type : last breach type (see FENCE_BREACH_* enum) (uint8_t) | |
| breach_time : time of last breach in milliseconds since boot (uint32_t) | |
| ''' | |
| msg = MAVLink_fence_status_message(breach_status, breach_count, breach_type, breach_time) | |
| msg.pack(self) | |
| return msg | |
| def fence_status_send(self, breach_status, breach_count, breach_type, breach_time): | |
| ''' | |
| Status of geo-fencing. Sent in extended status stream when | |
| fencing enabled | |
| breach_status : 0 if currently inside fence, 1 if outside (uint8_t) | |
| breach_count : number of fence breaches (uint16_t) | |
| breach_type : last breach type (see FENCE_BREACH_* enum) (uint8_t) | |
| breach_time : time of last breach in milliseconds since boot (uint32_t) | |
| ''' | |
| return self.send(self.fence_status_encode(breach_status, breach_count, breach_type, breach_time)) | |
| def ahrs_encode(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw): | |
| ''' | |
| Status of DCM attitude estimator | |
| omegaIx : X gyro drift estimate rad/s (float) | |
| omegaIy : Y gyro drift estimate rad/s (float) | |
| omegaIz : Z gyro drift estimate rad/s (float) | |
| accel_weight : average accel_weight (float) | |
| renorm_val : average renormalisation value (float) | |
| error_rp : average error_roll_pitch value (float) | |
| error_yaw : average error_yaw value (float) | |
| ''' | |
| msg = MAVLink_ahrs_message(omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw) | |
| msg.pack(self) | |
| return msg | |
| def ahrs_send(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw): | |
| ''' | |
| Status of DCM attitude estimator | |
| omegaIx : X gyro drift estimate rad/s (float) | |
| omegaIy : Y gyro drift estimate rad/s (float) | |
| omegaIz : Z gyro drift estimate rad/s (float) | |
| accel_weight : average accel_weight (float) | |
| renorm_val : average renormalisation value (float) | |
| error_rp : average error_roll_pitch value (float) | |
| error_yaw : average error_yaw value (float) | |
| ''' | |
| return self.send(self.ahrs_encode(omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw)) | |
| def simstate_encode(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro, lat, lng): | |
| ''' | |
| Status of simulation environment, if used | |
| roll : Roll angle (rad) (float) | |
| pitch : Pitch angle (rad) (float) | |
| yaw : Yaw angle (rad) (float) | |
| xacc : X acceleration m/s/s (float) | |
| yacc : Y acceleration m/s/s (float) | |
| zacc : Z acceleration m/s/s (float) | |
| xgyro : Angular speed around X axis rad/s (float) | |
| ygyro : Angular speed around Y axis rad/s (float) | |
| zgyro : Angular speed around Z axis rad/s (float) | |
| lat : Latitude in degrees (float) | |
| lng : Longitude in degrees (float) | |
| ''' | |
| msg = MAVLink_simstate_message(roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro, lat, lng) | |
| msg.pack(self) | |
| return msg | |
| def simstate_send(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro, lat, lng): | |
| ''' | |
| Status of simulation environment, if used | |
| roll : Roll angle (rad) (float) | |
| pitch : Pitch angle (rad) (float) | |
| yaw : Yaw angle (rad) (float) | |
| xacc : X acceleration m/s/s (float) | |
| yacc : Y acceleration m/s/s (float) | |
| zacc : Z acceleration m/s/s (float) | |
| xgyro : Angular speed around X axis rad/s (float) | |
| ygyro : Angular speed around Y axis rad/s (float) | |
| zgyro : Angular speed around Z axis rad/s (float) | |
| lat : Latitude in degrees (float) | |
| lng : Longitude in degrees (float) | |
| ''' | |
| return self.send(self.simstate_encode(roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro, lat, lng)) | |
| def hwstatus_encode(self, Vcc, I2Cerr): | |
| ''' | |
| Status of key hardware | |
| Vcc : board voltage (mV) (uint16_t) | |
| I2Cerr : I2C error count (uint8_t) | |
| ''' | |
| msg = MAVLink_hwstatus_message(Vcc, I2Cerr) | |
| msg.pack(self) | |
| return msg | |
| def hwstatus_send(self, Vcc, I2Cerr): | |
| ''' | |
| Status of key hardware | |
| Vcc : board voltage (mV) (uint16_t) | |
| I2Cerr : I2C error count (uint8_t) | |
| ''' | |
| return self.send(self.hwstatus_encode(Vcc, I2Cerr)) | |
| def radio_encode(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed): | |
| ''' | |
| Status generated by radio | |
| rssi : local signal strength (uint8_t) | |
| remrssi : remote signal strength (uint8_t) | |
| txbuf : how full the tx buffer is as a percentage (uint8_t) | |
| noise : background noise level (uint8_t) | |
| remnoise : remote background noise level (uint8_t) | |
| rxerrors : receive errors (uint16_t) | |
| fixed : count of error corrected packets (uint16_t) | |
| ''' | |
| msg = MAVLink_radio_message(rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed) | |
| msg.pack(self) | |
| return msg | |
| def radio_send(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed): | |
| ''' | |
| Status generated by radio | |
| rssi : local signal strength (uint8_t) | |
| remrssi : remote signal strength (uint8_t) | |
| txbuf : how full the tx buffer is as a percentage (uint8_t) | |
| noise : background noise level (uint8_t) | |
| remnoise : remote background noise level (uint8_t) | |
| rxerrors : receive errors (uint16_t) | |
| fixed : count of error corrected packets (uint16_t) | |
| ''' | |
| return self.send(self.radio_encode(rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed)) | |
| def limits_status_encode(self, limits_state, last_trigger, last_action, last_recovery, last_clear, breach_count, mods_enabled, mods_required, mods_triggered): | |
| ''' | |
| Status of AP_Limits. Sent in extended status stream when | |
| AP_Limits is enabled | |
| limits_state : state of AP_Limits, (see enum LimitState, LIMITS_STATE) (uint8_t) | |
| last_trigger : time of last breach in milliseconds since boot (uint32_t) | |
| last_action : time of last recovery action in milliseconds since boot (uint32_t) | |
| last_recovery : time of last successful recovery in milliseconds since boot (uint32_t) | |
| last_clear : time of last all-clear in milliseconds since boot (uint32_t) | |
| breach_count : number of fence breaches (uint16_t) | |
| mods_enabled : AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE) (uint8_t) | |
| mods_required : AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE) (uint8_t) | |
| mods_triggered : AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE) (uint8_t) | |
| ''' | |
| msg = MAVLink_limits_status_message(limits_state, last_trigger, last_action, last_recovery, last_clear, breach_count, mods_enabled, mods_required, mods_triggered) | |
| msg.pack(self) | |
| return msg | |
| def limits_status_send(self, limits_state, last_trigger, last_action, last_recovery, last_clear, breach_count, mods_enabled, mods_required, mods_triggered): | |
| ''' | |
| Status of AP_Limits. Sent in extended status stream when | |
| AP_Limits is enabled | |
| limits_state : state of AP_Limits, (see enum LimitState, LIMITS_STATE) (uint8_t) | |
| last_trigger : time of last breach in milliseconds since boot (uint32_t) | |
| last_action : time of last recovery action in milliseconds since boot (uint32_t) | |
| last_recovery : time of last successful recovery in milliseconds since boot (uint32_t) | |
| last_clear : time of last all-clear in milliseconds since boot (uint32_t) | |
| breach_count : number of fence breaches (uint16_t) | |
| mods_enabled : AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE) (uint8_t) | |
| mods_required : AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE) (uint8_t) | |
| mods_triggered : AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE) (uint8_t) | |
| ''' | |
| return self.send(self.limits_status_encode(limits_state, last_trigger, last_action, last_recovery, last_clear, breach_count, mods_enabled, mods_required, mods_triggered)) | |
| def wind_encode(self, direction, speed, speed_z): | |
| ''' | |
| Wind estimation | |
| direction : wind direction that wind is coming from (degrees) (float) | |
| speed : wind speed in ground plane (m/s) (float) | |
| speed_z : vertical wind speed (m/s) (float) | |
| ''' | |
| msg = MAVLink_wind_message(direction, speed, speed_z) | |
| msg.pack(self) | |
| return msg | |
| def wind_send(self, direction, speed, speed_z): | |
| ''' | |
| Wind estimation | |
| direction : wind direction that wind is coming from (degrees) (float) | |
| speed : wind speed in ground plane (m/s) (float) | |
| speed_z : vertical wind speed (m/s) (float) | |
| ''' | |
| return self.send(self.wind_encode(direction, speed, speed_z)) | |
| def data16_encode(self, type, len, data): | |
| ''' | |
| Data packet, size 16 | |
| type : data type (uint8_t) | |
| len : data length (uint8_t) | |
| data : raw data (uint8_t) | |
| ''' | |
| msg = MAVLink_data16_message(type, len, data) | |
| msg.pack(self) | |
| return msg | |
| def data16_send(self, type, len, data): | |
| ''' | |
| Data packet, size 16 | |
| type : data type (uint8_t) | |
| len : data length (uint8_t) | |
| data : raw data (uint8_t) | |
| ''' | |
| return self.send(self.data16_encode(type, len, data)) | |
| def data32_encode(self, type, len, data): | |
| ''' | |
| Data packet, size 32 | |
| type : data type (uint8_t) | |
| len : data length (uint8_t) | |
| data : raw data (uint8_t) | |
| ''' | |
| msg = MAVLink_data32_message(type, len, data) | |
| msg.pack(self) | |
| return msg | |
| def data32_send(self, type, len, data): | |
| ''' | |
| Data packet, size 32 | |
| type : data type (uint8_t) | |
| len : data length (uint8_t) | |
| data : raw data (uint8_t) | |
| ''' | |
| return self.send(self.data32_encode(type, len, data)) | |
| def data64_encode(self, type, len, data): | |
| ''' | |
| Data packet, size 64 | |
| type : data type (uint8_t) | |
| len : data length (uint8_t) | |
| data : raw data (uint8_t) | |
| ''' | |
| msg = MAVLink_data64_message(type, len, data) | |
| msg.pack(self) | |
| return msg | |
| def data64_send(self, type, len, data): | |
| ''' | |
| Data packet, size 64 | |
| type : data type (uint8_t) | |
| len : data length (uint8_t) | |
| data : raw data (uint8_t) | |
| ''' | |
| return self.send(self.data64_encode(type, len, data)) | |
| def data96_encode(self, type, len, data): | |
| ''' | |
| Data packet, size 96 | |
| type : data type (uint8_t) | |
| len : data length (uint8_t) | |
| data : raw data (uint8_t) | |
| ''' | |
| msg = MAVLink_data96_message(type, len, data) | |
| msg.pack(self) | |
| return msg | |
| def data96_send(self, type, len, data): | |
| ''' | |
| Data packet, size 96 | |
| type : data type (uint8_t) | |
| len : data length (uint8_t) | |
| data : raw data (uint8_t) | |
| ''' | |
| return self.send(self.data96_encode(type, len, data)) | |
| def rangefinder_encode(self, distance, voltage): | |
| ''' | |
| Rangefinder reporting | |
| distance : distance in meters (float) | |
| voltage : raw voltage if available, zero otherwise (float) | |
| ''' | |
| msg = MAVLink_rangefinder_message(distance, voltage) | |
| msg.pack(self) | |
| return msg | |
| def rangefinder_send(self, distance, voltage): | |
| ''' | |
| Rangefinder reporting | |
| distance : distance in meters (float) | |
| voltage : raw voltage if available, zero otherwise (float) | |
| ''' | |
| return self.send(self.rangefinder_encode(distance, voltage)) | |
| def heartbeat_encode(self, type, autopilot, base_mode, custom_mode, system_status, mavlink_version=3): | |
| ''' | |
| The heartbeat message shows that a system is present and responding. | |
| The type of the MAV and Autopilot hardware allow the | |
| receiving system to treat further messages from this | |
| system appropriate (e.g. by laying out the user | |
| interface based on the autopilot). | |
| type : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t) | |
| autopilot : Autopilot type / class. defined in MAV_AUTOPILOT ENUM (uint8_t) | |
| base_mode : System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h (uint8_t) | |
| custom_mode : A bitfield for use for autopilot-specific flags. (uint32_t) | |
| system_status : System status flag, see MAV_STATE ENUM (uint8_t) | |
| mavlink_version : MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version (uint8_t) | |
| ''' | |
| msg = MAVLink_heartbeat_message(type, autopilot, base_mode, custom_mode, system_status, mavlink_version) | |
| msg.pack(self) | |
| return msg | |
| def heartbeat_send(self, type, autopilot, base_mode, custom_mode, system_status, mavlink_version=3): | |
| ''' | |
| The heartbeat message shows that a system is present and responding. | |
| The type of the MAV and Autopilot hardware allow the | |
| receiving system to treat further messages from this | |
| system appropriate (e.g. by laying out the user | |
| interface based on the autopilot). | |
| type : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t) | |
| autopilot : Autopilot type / class. defined in MAV_AUTOPILOT ENUM (uint8_t) | |
| base_mode : System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h (uint8_t) | |
| custom_mode : A bitfield for use for autopilot-specific flags. (uint32_t) | |
| system_status : System status flag, see MAV_STATE ENUM (uint8_t) | |
| mavlink_version : MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version (uint8_t) | |
| ''' | |
| return self.send(self.heartbeat_encode(type, autopilot, base_mode, custom_mode, system_status, mavlink_version)) | |
| def sys_status_encode(self, onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4): | |
| ''' | |
| The general system state. If the system is following the MAVLink | |
| standard, the system state is mainly defined by three | |
| orthogonal states/modes: The system mode, which is | |
| either LOCKED (motors shut down and locked), MANUAL | |
| (system under RC control), GUIDED (system with | |
| autonomous position control, position setpoint | |
| controlled manually) or AUTO (system guided by | |
| path/waypoint planner). The NAV_MODE defined the | |
| current flight state: LIFTOFF (often an open-loop | |
| maneuver), LANDING, WAYPOINTS or VECTOR. This | |
| represents the internal navigation state machine. The | |
| system status shows wether the system is currently | |
| active or not and if an emergency occured. During the | |
| CRITICAL and EMERGENCY states the MAV is still | |
| considered to be active, but should start emergency | |
| procedures autonomously. After a failure occured it | |
| should first move from active to critical to allow | |
| manual intervention and then move to emergency after a | |
| certain timeout. | |
| onboard_control_sensors_present : Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t) | |
| onboard_control_sensors_enabled : Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t) | |
| onboard_control_sensors_health : Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t) | |
| load : Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t) | |
| voltage_battery : Battery voltage, in millivolts (1 = 1 millivolt) (uint16_t) | |
| current_battery : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t) | |
| battery_remaining : Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery (int8_t) | |
| drop_rate_comm : Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t) | |
| errors_comm : Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t) | |
| errors_count1 : Autopilot-specific errors (uint16_t) | |
| errors_count2 : Autopilot-specific errors (uint16_t) | |
| errors_count3 : Autopilot-specific errors (uint16_t) | |
| errors_count4 : Autopilot-specific errors (uint16_t) | |
| ''' | |
| msg = MAVLink_sys_status_message(onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4) | |
| msg.pack(self) | |
| return msg | |
| def sys_status_send(self, onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4): | |
| ''' | |
| The general system state. If the system is following the MAVLink | |
| standard, the system state is mainly defined by three | |
| orthogonal states/modes: The system mode, which is | |
| either LOCKED (motors shut down and locked), MANUAL | |
| (system under RC control), GUIDED (system with | |
| autonomous position control, position setpoint | |
| controlled manually) or AUTO (system guided by | |
| path/waypoint planner). The NAV_MODE defined the | |
| current flight state: LIFTOFF (often an open-loop | |
| maneuver), LANDING, WAYPOINTS or VECTOR. This | |
| represents the internal navigation state machine. The | |
| system status shows wether the system is currently | |
| active or not and if an emergency occured. During the | |
| CRITICAL and EMERGENCY states the MAV is still | |
| considered to be active, but should start emergency | |
| procedures autonomously. After a failure occured it | |
| should first move from active to critical to allow | |
| manual intervention and then move to emergency after a | |
| certain timeout. | |
| onboard_control_sensors_present : Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t) | |
| onboard_control_sensors_enabled : Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t) | |
| onboard_control_sensors_health : Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t) | |
| load : Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t) | |
| voltage_battery : Battery voltage, in millivolts (1 = 1 millivolt) (uint16_t) | |
| current_battery : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t) | |
| battery_remaining : Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery (int8_t) | |
| drop_rate_comm : Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t) | |
| errors_comm : Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t) | |
| errors_count1 : Autopilot-specific errors (uint16_t) | |
| errors_count2 : Autopilot-specific errors (uint16_t) | |
| errors_count3 : Autopilot-specific errors (uint16_t) | |
| errors_count4 : Autopilot-specific errors (uint16_t) | |
| ''' | |
| return self.send(self.sys_status_encode(onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4)) | |
| def system_time_encode(self, time_unix_usec, time_boot_ms): | |
| ''' | |
| The system time is the time of the master clock, typically the | |
| computer clock of the main onboard computer. | |
| time_unix_usec : Timestamp of the master clock in microseconds since UNIX epoch. (uint64_t) | |
| time_boot_ms : Timestamp of the component clock since boot time in milliseconds. (uint32_t) | |
| ''' | |
| msg = MAVLink_system_time_message(time_unix_usec, time_boot_ms) | |
| msg.pack(self) | |
| return msg | |
| def system_time_send(self, time_unix_usec, time_boot_ms): | |
| ''' | |
| The system time is the time of the master clock, typically the | |
| computer clock of the main onboard computer. | |
| time_unix_usec : Timestamp of the master clock in microseconds since UNIX epoch. (uint64_t) | |
| time_boot_ms : Timestamp of the component clock since boot time in milliseconds. (uint32_t) | |
| ''' | |
| return self.send(self.system_time_encode(time_unix_usec, time_boot_ms)) | |
| def ping_encode(self, time_usec, seq, target_system, target_component): | |
| ''' | |
| A ping message either requesting or responding to a ping. This allows | |
| to measure the system latencies, including serial | |
| port, radio modem and UDP connections. | |
| time_usec : Unix timestamp in microseconds (uint64_t) | |
| seq : PING sequence (uint32_t) | |
| target_system : 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t) | |
| target_component : 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t) | |
| ''' | |
| msg = MAVLink_ping_message(time_usec, seq, target_system, target_component) | |
| msg.pack(self) | |
| return msg | |
| def ping_send(self, time_usec, seq, target_system, target_component): | |
| ''' | |
| A ping message either requesting or responding to a ping. This allows | |
| to measure the system latencies, including serial | |
| port, radio modem and UDP connections. | |
| time_usec : Unix timestamp in microseconds (uint64_t) | |
| seq : PING sequence (uint32_t) | |
| target_system : 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t) | |
| target_component : 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t) | |
| ''' | |
| return self.send(self.ping_encode(time_usec, seq, target_system, target_component)) | |
| def change_operator_control_encode(self, target_system, control_request, version, passkey): | |
| ''' | |
| Request to control this MAV | |
| target_system : System the GCS requests control for (uint8_t) | |
| control_request : 0: request control of this MAV, 1: Release control of this MAV (uint8_t) | |
| version : 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. (uint8_t) | |
| passkey : Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" (char) | |
| ''' | |
| msg = MAVLink_change_operator_control_message(target_system, control_request, version, passkey) | |
| msg.pack(self) | |
| return msg | |
| def change_operator_control_send(self, target_system, control_request, version, passkey): | |
| ''' | |
| Request to control this MAV | |
| target_system : System the GCS requests control for (uint8_t) | |
| control_request : 0: request control of this MAV, 1: Release control of this MAV (uint8_t) | |
| version : 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. (uint8_t) | |
| passkey : Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" (char) | |
| ''' | |
| return self.send(self.change_operator_control_encode(target_system, control_request, version, passkey)) | |
| def change_operator_control_ack_encode(self, gcs_system_id, control_request, ack): | |
| ''' | |
| Accept / deny control of this MAV | |
| gcs_system_id : ID of the GCS this message (uint8_t) | |
| control_request : 0: request control of this MAV, 1: Release control of this MAV (uint8_t) | |
| ack : 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control (uint8_t) | |
| ''' | |
| msg = MAVLink_change_operator_control_ack_message(gcs_system_id, control_request, ack) | |
| msg.pack(self) | |
| return msg | |
| def change_operator_control_ack_send(self, gcs_system_id, control_request, ack): | |
| ''' | |
| Accept / deny control of this MAV | |
| gcs_system_id : ID of the GCS this message (uint8_t) | |
| control_request : 0: request control of this MAV, 1: Release control of this MAV (uint8_t) | |
| ack : 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control (uint8_t) | |
| ''' | |
| return self.send(self.change_operator_control_ack_encode(gcs_system_id, control_request, ack)) | |
| def auth_key_encode(self, key): | |
| ''' | |
| Emit an encrypted signature / key identifying this system. PLEASE | |
| NOTE: This protocol has been kept simple, so | |
| transmitting the key requires an encrypted channel for | |
| true safety. | |
| key : key (char) | |
| ''' | |
| msg = MAVLink_auth_key_message(key) | |
| msg.pack(self) | |
| return msg | |
| def auth_key_send(self, key): | |
| ''' | |
| Emit an encrypted signature / key identifying this system. PLEASE | |
| NOTE: This protocol has been kept simple, so | |
| transmitting the key requires an encrypted channel for | |
| true safety. | |
| key : key (char) | |
| ''' | |
| return self.send(self.auth_key_encode(key)) | |
| def set_mode_encode(self, target_system, base_mode, custom_mode): | |
| ''' | |
| Set the system mode, as defined by enum MAV_MODE. There is no target | |
| component id as the mode is by definition for the | |
| overall aircraft, not only for one component. | |
| target_system : The system setting the mode (uint8_t) | |
| base_mode : The new base mode (uint8_t) | |
| custom_mode : The new autopilot-specific mode. This field can be ignored by an autopilot. (uint32_t) | |
| ''' | |
| msg = MAVLink_set_mode_message(target_system, base_mode, custom_mode) | |
| msg.pack(self) | |
| return msg | |
| def set_mode_send(self, target_system, base_mode, custom_mode): | |
| ''' | |
| Set the system mode, as defined by enum MAV_MODE. There is no target | |
| component id as the mode is by definition for the | |
| overall aircraft, not only for one component. | |
| target_system : The system setting the mode (uint8_t) | |
| base_mode : The new base mode (uint8_t) | |
| custom_mode : The new autopilot-specific mode. This field can be ignored by an autopilot. (uint32_t) | |
| ''' | |
| return self.send(self.set_mode_encode(target_system, base_mode, custom_mode)) | |
| def param_request_read_encode(self, target_system, target_component, param_id, param_index): | |
| ''' | |
| Request to read the onboard parameter with the param_id string id. | |
| Onboard parameters are stored as key[const char*] -> | |
| value[float]. This allows to send a parameter to any | |
| other component (such as the GCS) without the need of | |
| previous knowledge of possible parameter names. Thus | |
| the same GCS can store different parameters for | |
| different autopilots. See also | |
| http://qgroundcontrol.org/parameter_interface for a | |
| full documentation of QGroundControl and IMU code. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char) | |
| param_index : Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored) (int16_t) | |
| ''' | |
| msg = MAVLink_param_request_read_message(target_system, target_component, param_id, param_index) | |
| msg.pack(self) | |
| return msg | |
| def param_request_read_send(self, target_system, target_component, param_id, param_index): | |
| ''' | |
| Request to read the onboard parameter with the param_id string id. | |
| Onboard parameters are stored as key[const char*] -> | |
| value[float]. This allows to send a parameter to any | |
| other component (such as the GCS) without the need of | |
| previous knowledge of possible parameter names. Thus | |
| the same GCS can store different parameters for | |
| different autopilots. See also | |
| http://qgroundcontrol.org/parameter_interface for a | |
| full documentation of QGroundControl and IMU code. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char) | |
| param_index : Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored) (int16_t) | |
| ''' | |
| return self.send(self.param_request_read_encode(target_system, target_component, param_id, param_index)) | |
| def param_request_list_encode(self, target_system, target_component): | |
| ''' | |
| Request all parameters of this component. After his request, all | |
| parameters are emitted. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| ''' | |
| msg = MAVLink_param_request_list_message(target_system, target_component) | |
| msg.pack(self) | |
| return msg | |
| def param_request_list_send(self, target_system, target_component): | |
| ''' | |
| Request all parameters of this component. After his request, all | |
| parameters are emitted. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| ''' | |
| return self.send(self.param_request_list_encode(target_system, target_component)) | |
| def param_value_encode(self, param_id, param_value, param_type, param_count, param_index): | |
| ''' | |
| Emit the value of a onboard parameter. The inclusion of param_count | |
| and param_index in the message allows the recipient to | |
| keep track of received parameters and allows him to | |
| re-request missing parameters after a loss or timeout. | |
| param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char) | |
| param_value : Onboard parameter value (float) | |
| param_type : Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. (uint8_t) | |
| param_count : Total number of onboard parameters (uint16_t) | |
| param_index : Index of this onboard parameter (uint16_t) | |
| ''' | |
| msg = MAVLink_param_value_message(param_id, param_value, param_type, param_count, param_index) | |
| msg.pack(self) | |
| return msg | |
| def param_value_send(self, param_id, param_value, param_type, param_count, param_index): | |
| ''' | |
| Emit the value of a onboard parameter. The inclusion of param_count | |
| and param_index in the message allows the recipient to | |
| keep track of received parameters and allows him to | |
| re-request missing parameters after a loss or timeout. | |
| param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char) | |
| param_value : Onboard parameter value (float) | |
| param_type : Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. (uint8_t) | |
| param_count : Total number of onboard parameters (uint16_t) | |
| param_index : Index of this onboard parameter (uint16_t) | |
| ''' | |
| return self.send(self.param_value_encode(param_id, param_value, param_type, param_count, param_index)) | |
| def param_set_encode(self, target_system, target_component, param_id, param_value, param_type): | |
| ''' | |
| Set a parameter value TEMPORARILY to RAM. It will be reset to default | |
| on system reboot. Send the ACTION | |
| MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM | |
| contents to EEPROM. IMPORTANT: The receiving component | |
| should acknowledge the new parameter value by sending | |
| a param_value message to all communication partners. | |
| This will also ensure that multiple GCS all have an | |
| up-to-date list of all parameters. If the sending GCS | |
| did not receive a PARAM_VALUE message within its | |
| timeout time, it should re-send the PARAM_SET message. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char) | |
| param_value : Onboard parameter value (float) | |
| param_type : Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. (uint8_t) | |
| ''' | |
| msg = MAVLink_param_set_message(target_system, target_component, param_id, param_value, param_type) | |
| msg.pack(self) | |
| return msg | |
| def param_set_send(self, target_system, target_component, param_id, param_value, param_type): | |
| ''' | |
| Set a parameter value TEMPORARILY to RAM. It will be reset to default | |
| on system reboot. Send the ACTION | |
| MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM | |
| contents to EEPROM. IMPORTANT: The receiving component | |
| should acknowledge the new parameter value by sending | |
| a param_value message to all communication partners. | |
| This will also ensure that multiple GCS all have an | |
| up-to-date list of all parameters. If the sending GCS | |
| did not receive a PARAM_VALUE message within its | |
| timeout time, it should re-send the PARAM_SET message. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (char) | |
| param_value : Onboard parameter value (float) | |
| param_type : Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. (uint8_t) | |
| ''' | |
| return self.send(self.param_set_encode(target_system, target_component, param_id, param_value, param_type)) | |
| def gps_raw_int_encode(self, time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible): | |
| ''' | |
| The global position, as returned by the Global Positioning System | |
| (GPS). This is NOT the global position | |
| estimate of the sytem, but rather a RAW sensor value. | |
| See message GLOBAL_POSITION for the global position | |
| estimate. Coordinate frame is right-handed, Z-axis up | |
| (GPS frame). | |
| time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) | |
| fix_type : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t) | |
| lat : Latitude in 1E7 degrees (int32_t) | |
| lon : Longitude in 1E7 degrees (int32_t) | |
| alt : Altitude in 1E3 meters (millimeters) above MSL (int32_t) | |
| eph : GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t) | |
| epv : GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t) | |
| vel : GPS ground speed (m/s * 100). If unknown, set to: 65535 (uint16_t) | |
| cog : Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t) | |
| satellites_visible : Number of satellites visible. If unknown, set to 255 (uint8_t) | |
| ''' | |
| msg = MAVLink_gps_raw_int_message(time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible) | |
| msg.pack(self) | |
| return msg | |
| def gps_raw_int_send(self, time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible): | |
| ''' | |
| The global position, as returned by the Global Positioning System | |
| (GPS). This is NOT the global position | |
| estimate of the sytem, but rather a RAW sensor value. | |
| See message GLOBAL_POSITION for the global position | |
| estimate. Coordinate frame is right-handed, Z-axis up | |
| (GPS frame). | |
| time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) | |
| fix_type : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t) | |
| lat : Latitude in 1E7 degrees (int32_t) | |
| lon : Longitude in 1E7 degrees (int32_t) | |
| alt : Altitude in 1E3 meters (millimeters) above MSL (int32_t) | |
| eph : GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t) | |
| epv : GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t) | |
| vel : GPS ground speed (m/s * 100). If unknown, set to: 65535 (uint16_t) | |
| cog : Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t) | |
| satellites_visible : Number of satellites visible. If unknown, set to 255 (uint8_t) | |
| ''' | |
| return self.send(self.gps_raw_int_encode(time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible)) | |
| def gps_status_encode(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr): | |
| ''' | |
| The positioning status, as reported by GPS. This message is intended | |
| to display status information about each satellite | |
| visible to the receiver. See message GLOBAL_POSITION | |
| for the global position estimate. This message can | |
| contain information for up to 20 satellites. | |
| satellites_visible : Number of satellites visible (uint8_t) | |
| satellite_prn : Global satellite ID (uint8_t) | |
| satellite_used : 0: Satellite not used, 1: used for localization (uint8_t) | |
| satellite_elevation : Elevation (0: right on top of receiver, 90: on the horizon) of satellite (uint8_t) | |
| satellite_azimuth : Direction of satellite, 0: 0 deg, 255: 360 deg. (uint8_t) | |
| satellite_snr : Signal to noise ratio of satellite (uint8_t) | |
| ''' | |
| msg = MAVLink_gps_status_message(satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr) | |
| msg.pack(self) | |
| return msg | |
| def gps_status_send(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr): | |
| ''' | |
| The positioning status, as reported by GPS. This message is intended | |
| to display status information about each satellite | |
| visible to the receiver. See message GLOBAL_POSITION | |
| for the global position estimate. This message can | |
| contain information for up to 20 satellites. | |
| satellites_visible : Number of satellites visible (uint8_t) | |
| satellite_prn : Global satellite ID (uint8_t) | |
| satellite_used : 0: Satellite not used, 1: used for localization (uint8_t) | |
| satellite_elevation : Elevation (0: right on top of receiver, 90: on the horizon) of satellite (uint8_t) | |
| satellite_azimuth : Direction of satellite, 0: 0 deg, 255: 360 deg. (uint8_t) | |
| satellite_snr : Signal to noise ratio of satellite (uint8_t) | |
| ''' | |
| return self.send(self.gps_status_encode(satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr)) | |
| def scaled_imu_encode(self, time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag): | |
| ''' | |
| The RAW IMU readings for the usual 9DOF sensor setup. This message | |
| should contain the scaled values to the described | |
| units | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| xacc : X acceleration (mg) (int16_t) | |
| yacc : Y acceleration (mg) (int16_t) | |
| zacc : Z acceleration (mg) (int16_t) | |
| xgyro : Angular speed around X axis (millirad /sec) (int16_t) | |
| ygyro : Angular speed around Y axis (millirad /sec) (int16_t) | |
| zgyro : Angular speed around Z axis (millirad /sec) (int16_t) | |
| xmag : X Magnetic field (milli tesla) (int16_t) | |
| ymag : Y Magnetic field (milli tesla) (int16_t) | |
| zmag : Z Magnetic field (milli tesla) (int16_t) | |
| ''' | |
| msg = MAVLink_scaled_imu_message(time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag) | |
| msg.pack(self) | |
| return msg | |
| def scaled_imu_send(self, time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag): | |
| ''' | |
| The RAW IMU readings for the usual 9DOF sensor setup. This message | |
| should contain the scaled values to the described | |
| units | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| xacc : X acceleration (mg) (int16_t) | |
| yacc : Y acceleration (mg) (int16_t) | |
| zacc : Z acceleration (mg) (int16_t) | |
| xgyro : Angular speed around X axis (millirad /sec) (int16_t) | |
| ygyro : Angular speed around Y axis (millirad /sec) (int16_t) | |
| zgyro : Angular speed around Z axis (millirad /sec) (int16_t) | |
| xmag : X Magnetic field (milli tesla) (int16_t) | |
| ymag : Y Magnetic field (milli tesla) (int16_t) | |
| zmag : Z Magnetic field (milli tesla) (int16_t) | |
| ''' | |
| return self.send(self.scaled_imu_encode(time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag)) | |
| def raw_imu_encode(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag): | |
| ''' | |
| The RAW IMU readings for the usual 9DOF sensor setup. This message | |
| should always contain the true raw values without any | |
| scaling to allow data capture and system debugging. | |
| time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) | |
| xacc : X acceleration (raw) (int16_t) | |
| yacc : Y acceleration (raw) (int16_t) | |
| zacc : Z acceleration (raw) (int16_t) | |
| xgyro : Angular speed around X axis (raw) (int16_t) | |
| ygyro : Angular speed around Y axis (raw) (int16_t) | |
| zgyro : Angular speed around Z axis (raw) (int16_t) | |
| xmag : X Magnetic field (raw) (int16_t) | |
| ymag : Y Magnetic field (raw) (int16_t) | |
| zmag : Z Magnetic field (raw) (int16_t) | |
| ''' | |
| msg = MAVLink_raw_imu_message(time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag) | |
| msg.pack(self) | |
| return msg | |
| def raw_imu_send(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag): | |
| ''' | |
| The RAW IMU readings for the usual 9DOF sensor setup. This message | |
| should always contain the true raw values without any | |
| scaling to allow data capture and system debugging. | |
| time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) | |
| xacc : X acceleration (raw) (int16_t) | |
| yacc : Y acceleration (raw) (int16_t) | |
| zacc : Z acceleration (raw) (int16_t) | |
| xgyro : Angular speed around X axis (raw) (int16_t) | |
| ygyro : Angular speed around Y axis (raw) (int16_t) | |
| zgyro : Angular speed around Z axis (raw) (int16_t) | |
| xmag : X Magnetic field (raw) (int16_t) | |
| ymag : Y Magnetic field (raw) (int16_t) | |
| zmag : Z Magnetic field (raw) (int16_t) | |
| ''' | |
| return self.send(self.raw_imu_encode(time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag)) | |
| def raw_pressure_encode(self, time_usec, press_abs, press_diff1, press_diff2, temperature): | |
| ''' | |
| The RAW pressure readings for the typical setup of one absolute | |
| pressure and one differential pressure sensor. The | |
| sensor values should be the raw, UNSCALED ADC values. | |
| time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) | |
| press_abs : Absolute pressure (raw) (int16_t) | |
| press_diff1 : Differential pressure 1 (raw) (int16_t) | |
| press_diff2 : Differential pressure 2 (raw) (int16_t) | |
| temperature : Raw Temperature measurement (raw) (int16_t) | |
| ''' | |
| msg = MAVLink_raw_pressure_message(time_usec, press_abs, press_diff1, press_diff2, temperature) | |
| msg.pack(self) | |
| return msg | |
| def raw_pressure_send(self, time_usec, press_abs, press_diff1, press_diff2, temperature): | |
| ''' | |
| The RAW pressure readings for the typical setup of one absolute | |
| pressure and one differential pressure sensor. The | |
| sensor values should be the raw, UNSCALED ADC values. | |
| time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) | |
| press_abs : Absolute pressure (raw) (int16_t) | |
| press_diff1 : Differential pressure 1 (raw) (int16_t) | |
| press_diff2 : Differential pressure 2 (raw) (int16_t) | |
| temperature : Raw Temperature measurement (raw) (int16_t) | |
| ''' | |
| return self.send(self.raw_pressure_encode(time_usec, press_abs, press_diff1, press_diff2, temperature)) | |
| def scaled_pressure_encode(self, time_boot_ms, press_abs, press_diff, temperature): | |
| ''' | |
| The pressure readings for the typical setup of one absolute and | |
| differential pressure sensor. The units are as | |
| specified in each field. | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| press_abs : Absolute pressure (hectopascal) (float) | |
| press_diff : Differential pressure 1 (hectopascal) (float) | |
| temperature : Temperature measurement (0.01 degrees celsius) (int16_t) | |
| ''' | |
| msg = MAVLink_scaled_pressure_message(time_boot_ms, press_abs, press_diff, temperature) | |
| msg.pack(self) | |
| return msg | |
| def scaled_pressure_send(self, time_boot_ms, press_abs, press_diff, temperature): | |
| ''' | |
| The pressure readings for the typical setup of one absolute and | |
| differential pressure sensor. The units are as | |
| specified in each field. | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| press_abs : Absolute pressure (hectopascal) (float) | |
| press_diff : Differential pressure 1 (hectopascal) (float) | |
| temperature : Temperature measurement (0.01 degrees celsius) (int16_t) | |
| ''' | |
| return self.send(self.scaled_pressure_encode(time_boot_ms, press_abs, press_diff, temperature)) | |
| def attitude_encode(self, time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed): | |
| ''' | |
| The attitude in the aeronautical frame (right-handed, Z-down, X-front, | |
| Y-right). | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| roll : Roll angle (rad, -pi..+pi) (float) | |
| pitch : Pitch angle (rad, -pi..+pi) (float) | |
| yaw : Yaw angle (rad, -pi..+pi) (float) | |
| rollspeed : Roll angular speed (rad/s) (float) | |
| pitchspeed : Pitch angular speed (rad/s) (float) | |
| yawspeed : Yaw angular speed (rad/s) (float) | |
| ''' | |
| msg = MAVLink_attitude_message(time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed) | |
| msg.pack(self) | |
| return msg | |
| def attitude_send(self, time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed): | |
| ''' | |
| The attitude in the aeronautical frame (right-handed, Z-down, X-front, | |
| Y-right). | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| roll : Roll angle (rad, -pi..+pi) (float) | |
| pitch : Pitch angle (rad, -pi..+pi) (float) | |
| yaw : Yaw angle (rad, -pi..+pi) (float) | |
| rollspeed : Roll angular speed (rad/s) (float) | |
| pitchspeed : Pitch angular speed (rad/s) (float) | |
| yawspeed : Yaw angular speed (rad/s) (float) | |
| ''' | |
| return self.send(self.attitude_encode(time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed)) | |
| def attitude_quaternion_encode(self, time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed): | |
| ''' | |
| The attitude in the aeronautical frame (right-handed, Z-down, X-front, | |
| Y-right), expressed as quaternion. | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| q1 : Quaternion component 1 (float) | |
| q2 : Quaternion component 2 (float) | |
| q3 : Quaternion component 3 (float) | |
| q4 : Quaternion component 4 (float) | |
| rollspeed : Roll angular speed (rad/s) (float) | |
| pitchspeed : Pitch angular speed (rad/s) (float) | |
| yawspeed : Yaw angular speed (rad/s) (float) | |
| ''' | |
| msg = MAVLink_attitude_quaternion_message(time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed) | |
| msg.pack(self) | |
| return msg | |
| def attitude_quaternion_send(self, time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed): | |
| ''' | |
| The attitude in the aeronautical frame (right-handed, Z-down, X-front, | |
| Y-right), expressed as quaternion. | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| q1 : Quaternion component 1 (float) | |
| q2 : Quaternion component 2 (float) | |
| q3 : Quaternion component 3 (float) | |
| q4 : Quaternion component 4 (float) | |
| rollspeed : Roll angular speed (rad/s) (float) | |
| pitchspeed : Pitch angular speed (rad/s) (float) | |
| yawspeed : Yaw angular speed (rad/s) (float) | |
| ''' | |
| return self.send(self.attitude_quaternion_encode(time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed)) | |
| def local_position_ned_encode(self, time_boot_ms, x, y, z, vx, vy, vz): | |
| ''' | |
| The filtered local position (e.g. fused computer vision and | |
| accelerometers). Coordinate frame is right-handed, | |
| Z-axis down (aeronautical frame, NED / north-east-down | |
| convention) | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| x : X Position (float) | |
| y : Y Position (float) | |
| z : Z Position (float) | |
| vx : X Speed (float) | |
| vy : Y Speed (float) | |
| vz : Z Speed (float) | |
| ''' | |
| msg = MAVLink_local_position_ned_message(time_boot_ms, x, y, z, vx, vy, vz) | |
| msg.pack(self) | |
| return msg | |
| def local_position_ned_send(self, time_boot_ms, x, y, z, vx, vy, vz): | |
| ''' | |
| The filtered local position (e.g. fused computer vision and | |
| accelerometers). Coordinate frame is right-handed, | |
| Z-axis down (aeronautical frame, NED / north-east-down | |
| convention) | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| x : X Position (float) | |
| y : Y Position (float) | |
| z : Z Position (float) | |
| vx : X Speed (float) | |
| vy : Y Speed (float) | |
| vz : Z Speed (float) | |
| ''' | |
| return self.send(self.local_position_ned_encode(time_boot_ms, x, y, z, vx, vy, vz)) | |
| def global_position_int_encode(self, time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg): | |
| ''' | |
| The filtered global position (e.g. fused GPS and accelerometers). The | |
| position is in GPS-frame (right-handed, Z-up). It | |
| is designed as scaled integer message since the | |
| resolution of float is not sufficient. | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| lat : Latitude, expressed as * 1E7 (int32_t) | |
| lon : Longitude, expressed as * 1E7 (int32_t) | |
| alt : Altitude in meters, expressed as * 1000 (millimeters), above MSL (int32_t) | |
| relative_alt : Altitude above ground in meters, expressed as * 1000 (millimeters) (int32_t) | |
| vx : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t) | |
| vy : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t) | |
| vz : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t) | |
| hdg : Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t) | |
| ''' | |
| msg = MAVLink_global_position_int_message(time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg) | |
| msg.pack(self) | |
| return msg | |
| def global_position_int_send(self, time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg): | |
| ''' | |
| The filtered global position (e.g. fused GPS and accelerometers). The | |
| position is in GPS-frame (right-handed, Z-up). It | |
| is designed as scaled integer message since the | |
| resolution of float is not sufficient. | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| lat : Latitude, expressed as * 1E7 (int32_t) | |
| lon : Longitude, expressed as * 1E7 (int32_t) | |
| alt : Altitude in meters, expressed as * 1000 (millimeters), above MSL (int32_t) | |
| relative_alt : Altitude above ground in meters, expressed as * 1000 (millimeters) (int32_t) | |
| vx : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t) | |
| vy : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t) | |
| vz : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t) | |
| hdg : Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t) | |
| ''' | |
| return self.send(self.global_position_int_encode(time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg)) | |
| def rc_channels_scaled_encode(self, time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi): | |
| ''' | |
| The scaled values of the RC channels received. (-100%) -10000, (0%) 0, | |
| (100%) 10000. Channels that are inactive should be set | |
| to 65535. | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. (uint8_t) | |
| chan1_scaled : RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) | |
| chan2_scaled : RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) | |
| chan3_scaled : RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) | |
| chan4_scaled : RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) | |
| chan5_scaled : RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) | |
| chan6_scaled : RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) | |
| chan7_scaled : RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) | |
| chan8_scaled : RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) | |
| rssi : Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. (uint8_t) | |
| ''' | |
| msg = MAVLink_rc_channels_scaled_message(time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi) | |
| msg.pack(self) | |
| return msg | |
| def rc_channels_scaled_send(self, time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi): | |
| ''' | |
| The scaled values of the RC channels received. (-100%) -10000, (0%) 0, | |
| (100%) 10000. Channels that are inactive should be set | |
| to 65535. | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. (uint8_t) | |
| chan1_scaled : RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) | |
| chan2_scaled : RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) | |
| chan3_scaled : RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) | |
| chan4_scaled : RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) | |
| chan5_scaled : RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) | |
| chan6_scaled : RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) | |
| chan7_scaled : RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) | |
| chan8_scaled : RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) | |
| rssi : Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. (uint8_t) | |
| ''' | |
| return self.send(self.rc_channels_scaled_encode(time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi)) | |
| def rc_channels_raw_encode(self, time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi): | |
| ''' | |
| The RAW values of the RC channels received. The standard PPM | |
| modulation is as follows: 1000 microseconds: 0%, 2000 | |
| microseconds: 100%. Individual receivers/transmitters | |
| might violate this specification. | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. (uint8_t) | |
| chan1_raw : RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) | |
| chan2_raw : RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) | |
| chan3_raw : RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) | |
| chan4_raw : RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) | |
| chan5_raw : RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) | |
| chan6_raw : RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) | |
| chan7_raw : RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) | |
| chan8_raw : RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) | |
| rssi : Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. (uint8_t) | |
| ''' | |
| msg = MAVLink_rc_channels_raw_message(time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi) | |
| msg.pack(self) | |
| return msg | |
| def rc_channels_raw_send(self, time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi): | |
| ''' | |
| The RAW values of the RC channels received. The standard PPM | |
| modulation is as follows: 1000 microseconds: 0%, 2000 | |
| microseconds: 100%. Individual receivers/transmitters | |
| might violate this specification. | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. (uint8_t) | |
| chan1_raw : RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) | |
| chan2_raw : RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) | |
| chan3_raw : RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) | |
| chan4_raw : RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) | |
| chan5_raw : RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) | |
| chan6_raw : RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) | |
| chan7_raw : RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) | |
| chan8_raw : RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) | |
| rssi : Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. (uint8_t) | |
| ''' | |
| return self.send(self.rc_channels_raw_encode(time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi)) | |
| def servo_output_raw_encode(self, time_usec, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw): | |
| ''' | |
| The RAW values of the servo outputs (for RC input from the remote, use | |
| the RC_CHANNELS messages). The standard PPM modulation | |
| is as follows: 1000 microseconds: 0%, 2000 | |
| microseconds: 100%. | |
| time_usec : Timestamp (microseconds since system boot) (uint32_t) | |
| port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. (uint8_t) | |
| servo1_raw : Servo output 1 value, in microseconds (uint16_t) | |
| servo2_raw : Servo output 2 value, in microseconds (uint16_t) | |
| servo3_raw : Servo output 3 value, in microseconds (uint16_t) | |
| servo4_raw : Servo output 4 value, in microseconds (uint16_t) | |
| servo5_raw : Servo output 5 value, in microseconds (uint16_t) | |
| servo6_raw : Servo output 6 value, in microseconds (uint16_t) | |
| servo7_raw : Servo output 7 value, in microseconds (uint16_t) | |
| servo8_raw : Servo output 8 value, in microseconds (uint16_t) | |
| ''' | |
| msg = MAVLink_servo_output_raw_message(time_usec, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw) | |
| msg.pack(self) | |
| return msg | |
| def servo_output_raw_send(self, time_usec, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw): | |
| ''' | |
| The RAW values of the servo outputs (for RC input from the remote, use | |
| the RC_CHANNELS messages). The standard PPM modulation | |
| is as follows: 1000 microseconds: 0%, 2000 | |
| microseconds: 100%. | |
| time_usec : Timestamp (microseconds since system boot) (uint32_t) | |
| port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. (uint8_t) | |
| servo1_raw : Servo output 1 value, in microseconds (uint16_t) | |
| servo2_raw : Servo output 2 value, in microseconds (uint16_t) | |
| servo3_raw : Servo output 3 value, in microseconds (uint16_t) | |
| servo4_raw : Servo output 4 value, in microseconds (uint16_t) | |
| servo5_raw : Servo output 5 value, in microseconds (uint16_t) | |
| servo6_raw : Servo output 6 value, in microseconds (uint16_t) | |
| servo7_raw : Servo output 7 value, in microseconds (uint16_t) | |
| servo8_raw : Servo output 8 value, in microseconds (uint16_t) | |
| ''' | |
| return self.send(self.servo_output_raw_encode(time_usec, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw)) | |
| def mission_request_partial_list_encode(self, target_system, target_component, start_index, end_index): | |
| ''' | |
| Request a partial list of mission items from the system/component. | |
| http://qgroundcontrol.org/mavlink/waypoint_protocol. | |
| If start and end index are the same, just send one | |
| waypoint. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| start_index : Start index, 0 by default (int16_t) | |
| end_index : End index, -1 by default (-1: send list to end). Else a valid index of the list (int16_t) | |
| ''' | |
| msg = MAVLink_mission_request_partial_list_message(target_system, target_component, start_index, end_index) | |
| msg.pack(self) | |
| return msg | |
| def mission_request_partial_list_send(self, target_system, target_component, start_index, end_index): | |
| ''' | |
| Request a partial list of mission items from the system/component. | |
| http://qgroundcontrol.org/mavlink/waypoint_protocol. | |
| If start and end index are the same, just send one | |
| waypoint. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| start_index : Start index, 0 by default (int16_t) | |
| end_index : End index, -1 by default (-1: send list to end). Else a valid index of the list (int16_t) | |
| ''' | |
| return self.send(self.mission_request_partial_list_encode(target_system, target_component, start_index, end_index)) | |
| def mission_write_partial_list_encode(self, target_system, target_component, start_index, end_index): | |
| ''' | |
| This message is sent to the MAV to write a partial list. If start | |
| index == end index, only one item will be transmitted | |
| / updated. If the start index is NOT 0 and above the | |
| current list size, this request should be REJECTED! | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| start_index : Start index, 0 by default and smaller / equal to the largest index of the current onboard list. (int16_t) | |
| end_index : End index, equal or greater than start index. (int16_t) | |
| ''' | |
| msg = MAVLink_mission_write_partial_list_message(target_system, target_component, start_index, end_index) | |
| msg.pack(self) | |
| return msg | |
| def mission_write_partial_list_send(self, target_system, target_component, start_index, end_index): | |
| ''' | |
| This message is sent to the MAV to write a partial list. If start | |
| index == end index, only one item will be transmitted | |
| / updated. If the start index is NOT 0 and above the | |
| current list size, this request should be REJECTED! | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| start_index : Start index, 0 by default and smaller / equal to the largest index of the current onboard list. (int16_t) | |
| end_index : End index, equal or greater than start index. (int16_t) | |
| ''' | |
| return self.send(self.mission_write_partial_list_encode(target_system, target_component, start_index, end_index)) | |
| def mission_item_encode(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z): | |
| ''' | |
| Message encoding a mission item. This message is emitted to announce | |
| the presence of a mission item and to set a mission | |
| item on the system. The mission item can be either in | |
| x, y, z meters (type: LOCAL) or x:lat, y:lon, | |
| z:altitude. Local frame is Z-down, right handed (NED), | |
| global frame is Z-up, right handed (ENU). See also | |
| http://qgroundcontrol.org/mavlink/waypoint_protocol. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| seq : Sequence (uint16_t) | |
| frame : The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h (uint8_t) | |
| command : The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs (uint16_t) | |
| current : false:0, true:1 (uint8_t) | |
| autocontinue : autocontinue to next wp (uint8_t) | |
| param1 : PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters (float) | |
| param2 : PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds (float) | |
| param3 : PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. (float) | |
| param4 : PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH (float) | |
| x : PARAM5 / local: x position, global: latitude (float) | |
| y : PARAM6 / y position: global: longitude (float) | |
| z : PARAM7 / z position: global: altitude (float) | |
| ''' | |
| msg = MAVLink_mission_item_message(target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z) | |
| msg.pack(self) | |
| return msg | |
| def mission_item_send(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z): | |
| ''' | |
| Message encoding a mission item. This message is emitted to announce | |
| the presence of a mission item and to set a mission | |
| item on the system. The mission item can be either in | |
| x, y, z meters (type: LOCAL) or x:lat, y:lon, | |
| z:altitude. Local frame is Z-down, right handed (NED), | |
| global frame is Z-up, right handed (ENU). See also | |
| http://qgroundcontrol.org/mavlink/waypoint_protocol. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| seq : Sequence (uint16_t) | |
| frame : The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h (uint8_t) | |
| command : The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs (uint16_t) | |
| current : false:0, true:1 (uint8_t) | |
| autocontinue : autocontinue to next wp (uint8_t) | |
| param1 : PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters (float) | |
| param2 : PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds (float) | |
| param3 : PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. (float) | |
| param4 : PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH (float) | |
| x : PARAM5 / local: x position, global: latitude (float) | |
| y : PARAM6 / y position: global: longitude (float) | |
| z : PARAM7 / z position: global: altitude (float) | |
| ''' | |
| return self.send(self.mission_item_encode(target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z)) | |
| def mission_request_encode(self, target_system, target_component, seq): | |
| ''' | |
| Request the information of the mission item with the sequence number | |
| seq. The response of the system to this message should | |
| be a MISSION_ITEM message. | |
| http://qgroundcontrol.org/mavlink/waypoint_protocol | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| seq : Sequence (uint16_t) | |
| ''' | |
| msg = MAVLink_mission_request_message(target_system, target_component, seq) | |
| msg.pack(self) | |
| return msg | |
| def mission_request_send(self, target_system, target_component, seq): | |
| ''' | |
| Request the information of the mission item with the sequence number | |
| seq. The response of the system to this message should | |
| be a MISSION_ITEM message. | |
| http://qgroundcontrol.org/mavlink/waypoint_protocol | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| seq : Sequence (uint16_t) | |
| ''' | |
| return self.send(self.mission_request_encode(target_system, target_component, seq)) | |
| def mission_set_current_encode(self, target_system, target_component, seq): | |
| ''' | |
| Set the mission item with sequence number seq as current item. This | |
| means that the MAV will continue to this mission item | |
| on the shortest path (not following the mission items | |
| in-between). | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| seq : Sequence (uint16_t) | |
| ''' | |
| msg = MAVLink_mission_set_current_message(target_system, target_component, seq) | |
| msg.pack(self) | |
| return msg | |
| def mission_set_current_send(self, target_system, target_component, seq): | |
| ''' | |
| Set the mission item with sequence number seq as current item. This | |
| means that the MAV will continue to this mission item | |
| on the shortest path (not following the mission items | |
| in-between). | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| seq : Sequence (uint16_t) | |
| ''' | |
| return self.send(self.mission_set_current_encode(target_system, target_component, seq)) | |
| def mission_current_encode(self, seq): | |
| ''' | |
| Message that announces the sequence number of the current active | |
| mission item. The MAV will fly towards this mission | |
| item. | |
| seq : Sequence (uint16_t) | |
| ''' | |
| msg = MAVLink_mission_current_message(seq) | |
| msg.pack(self) | |
| return msg | |
| def mission_current_send(self, seq): | |
| ''' | |
| Message that announces the sequence number of the current active | |
| mission item. The MAV will fly towards this mission | |
| item. | |
| seq : Sequence (uint16_t) | |
| ''' | |
| return self.send(self.mission_current_encode(seq)) | |
| def mission_request_list_encode(self, target_system, target_component): | |
| ''' | |
| Request the overall list of mission items from the system/component. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| ''' | |
| msg = MAVLink_mission_request_list_message(target_system, target_component) | |
| msg.pack(self) | |
| return msg | |
| def mission_request_list_send(self, target_system, target_component): | |
| ''' | |
| Request the overall list of mission items from the system/component. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| ''' | |
| return self.send(self.mission_request_list_encode(target_system, target_component)) | |
| def mission_count_encode(self, target_system, target_component, count): | |
| ''' | |
| This message is emitted as response to MISSION_REQUEST_LIST by the MAV | |
| and to initiate a write transaction. The GCS can then | |
| request the individual mission item based on the | |
| knowledge of the total number of MISSIONs. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| count : Number of mission items in the sequence (uint16_t) | |
| ''' | |
| msg = MAVLink_mission_count_message(target_system, target_component, count) | |
| msg.pack(self) | |
| return msg | |
| def mission_count_send(self, target_system, target_component, count): | |
| ''' | |
| This message is emitted as response to MISSION_REQUEST_LIST by the MAV | |
| and to initiate a write transaction. The GCS can then | |
| request the individual mission item based on the | |
| knowledge of the total number of MISSIONs. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| count : Number of mission items in the sequence (uint16_t) | |
| ''' | |
| return self.send(self.mission_count_encode(target_system, target_component, count)) | |
| def mission_clear_all_encode(self, target_system, target_component): | |
| ''' | |
| Delete all mission items at once. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| ''' | |
| msg = MAVLink_mission_clear_all_message(target_system, target_component) | |
| msg.pack(self) | |
| return msg | |
| def mission_clear_all_send(self, target_system, target_component): | |
| ''' | |
| Delete all mission items at once. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| ''' | |
| return self.send(self.mission_clear_all_encode(target_system, target_component)) | |
| def mission_item_reached_encode(self, seq): | |
| ''' | |
| A certain mission item has been reached. The system will either hold | |
| this position (or circle on the orbit) or (if the | |
| autocontinue on the WP was set) continue to the next | |
| MISSION. | |
| seq : Sequence (uint16_t) | |
| ''' | |
| msg = MAVLink_mission_item_reached_message(seq) | |
| msg.pack(self) | |
| return msg | |
| def mission_item_reached_send(self, seq): | |
| ''' | |
| A certain mission item has been reached. The system will either hold | |
| this position (or circle on the orbit) or (if the | |
| autocontinue on the WP was set) continue to the next | |
| MISSION. | |
| seq : Sequence (uint16_t) | |
| ''' | |
| return self.send(self.mission_item_reached_encode(seq)) | |
| def mission_ack_encode(self, target_system, target_component, type): | |
| ''' | |
| Ack message during MISSION handling. The type field states if this | |
| message is a positive ack (type=0) or if an error | |
| happened (type=non-zero). | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| type : See MAV_MISSION_RESULT enum (uint8_t) | |
| ''' | |
| msg = MAVLink_mission_ack_message(target_system, target_component, type) | |
| msg.pack(self) | |
| return msg | |
| def mission_ack_send(self, target_system, target_component, type): | |
| ''' | |
| Ack message during MISSION handling. The type field states if this | |
| message is a positive ack (type=0) or if an error | |
| happened (type=non-zero). | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| type : See MAV_MISSION_RESULT enum (uint8_t) | |
| ''' | |
| return self.send(self.mission_ack_encode(target_system, target_component, type)) | |
| def set_gps_global_origin_encode(self, target_system, latitude, longitude, altitude): | |
| ''' | |
| As local waypoints exist, the global MISSION reference allows to | |
| transform between the local coordinate frame and the | |
| global (GPS) coordinate frame. This can be necessary | |
| when e.g. in- and outdoor settings are connected and | |
| the MAV should move from in- to outdoor. | |
| target_system : System ID (uint8_t) | |
| latitude : global position * 1E7 (int32_t) | |
| longitude : global position * 1E7 (int32_t) | |
| altitude : global position * 1000 (int32_t) | |
| ''' | |
| msg = MAVLink_set_gps_global_origin_message(target_system, latitude, longitude, altitude) | |
| msg.pack(self) | |
| return msg | |
| def set_gps_global_origin_send(self, target_system, latitude, longitude, altitude): | |
| ''' | |
| As local waypoints exist, the global MISSION reference allows to | |
| transform between the local coordinate frame and the | |
| global (GPS) coordinate frame. This can be necessary | |
| when e.g. in- and outdoor settings are connected and | |
| the MAV should move from in- to outdoor. | |
| target_system : System ID (uint8_t) | |
| latitude : global position * 1E7 (int32_t) | |
| longitude : global position * 1E7 (int32_t) | |
| altitude : global position * 1000 (int32_t) | |
| ''' | |
| return self.send(self.set_gps_global_origin_encode(target_system, latitude, longitude, altitude)) | |
| def gps_global_origin_encode(self, latitude, longitude, altitude): | |
| ''' | |
| Once the MAV sets a new GPS-Local correspondence, this message | |
| announces the origin (0,0,0) position | |
| latitude : Latitude (WGS84), expressed as * 1E7 (int32_t) | |
| longitude : Longitude (WGS84), expressed as * 1E7 (int32_t) | |
| altitude : Altitude(WGS84), expressed as * 1000 (int32_t) | |
| ''' | |
| msg = MAVLink_gps_global_origin_message(latitude, longitude, altitude) | |
| msg.pack(self) | |
| return msg | |
| def gps_global_origin_send(self, latitude, longitude, altitude): | |
| ''' | |
| Once the MAV sets a new GPS-Local correspondence, this message | |
| announces the origin (0,0,0) position | |
| latitude : Latitude (WGS84), expressed as * 1E7 (int32_t) | |
| longitude : Longitude (WGS84), expressed as * 1E7 (int32_t) | |
| altitude : Altitude(WGS84), expressed as * 1000 (int32_t) | |
| ''' | |
| return self.send(self.gps_global_origin_encode(latitude, longitude, altitude)) | |
| def set_local_position_setpoint_encode(self, target_system, target_component, coordinate_frame, x, y, z, yaw): | |
| ''' | |
| Set the setpoint for a local position controller. This is the position | |
| in local coordinates the MAV should fly to. This | |
| message is sent by the path/MISSION planner to the | |
| onboard position controller. As some MAVs have a | |
| degree of freedom in yaw (e.g. all | |
| helicopters/quadrotors), the desired yaw angle is part | |
| of the message. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t) | |
| x : x position (float) | |
| y : y position (float) | |
| z : z position (float) | |
| yaw : Desired yaw angle (float) | |
| ''' | |
| msg = MAVLink_set_local_position_setpoint_message(target_system, target_component, coordinate_frame, x, y, z, yaw) | |
| msg.pack(self) | |
| return msg | |
| def set_local_position_setpoint_send(self, target_system, target_component, coordinate_frame, x, y, z, yaw): | |
| ''' | |
| Set the setpoint for a local position controller. This is the position | |
| in local coordinates the MAV should fly to. This | |
| message is sent by the path/MISSION planner to the | |
| onboard position controller. As some MAVs have a | |
| degree of freedom in yaw (e.g. all | |
| helicopters/quadrotors), the desired yaw angle is part | |
| of the message. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t) | |
| x : x position (float) | |
| y : y position (float) | |
| z : z position (float) | |
| yaw : Desired yaw angle (float) | |
| ''' | |
| return self.send(self.set_local_position_setpoint_encode(target_system, target_component, coordinate_frame, x, y, z, yaw)) | |
| def local_position_setpoint_encode(self, coordinate_frame, x, y, z, yaw): | |
| ''' | |
| Transmit the current local setpoint of the controller to other MAVs | |
| (collision avoidance) and to the GCS. | |
| coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t) | |
| x : x position (float) | |
| y : y position (float) | |
| z : z position (float) | |
| yaw : Desired yaw angle (float) | |
| ''' | |
| msg = MAVLink_local_position_setpoint_message(coordinate_frame, x, y, z, yaw) | |
| msg.pack(self) | |
| return msg | |
| def local_position_setpoint_send(self, coordinate_frame, x, y, z, yaw): | |
| ''' | |
| Transmit the current local setpoint of the controller to other MAVs | |
| (collision avoidance) and to the GCS. | |
| coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t) | |
| x : x position (float) | |
| y : y position (float) | |
| z : z position (float) | |
| yaw : Desired yaw angle (float) | |
| ''' | |
| return self.send(self.local_position_setpoint_encode(coordinate_frame, x, y, z, yaw)) | |
| def global_position_setpoint_int_encode(self, coordinate_frame, latitude, longitude, altitude, yaw): | |
| ''' | |
| Transmit the current local setpoint of the controller to other MAVs | |
| (collision avoidance) and to the GCS. | |
| coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t) | |
| latitude : WGS84 Latitude position in degrees * 1E7 (int32_t) | |
| longitude : WGS84 Longitude position in degrees * 1E7 (int32_t) | |
| altitude : WGS84 Altitude in meters * 1000 (positive for up) (int32_t) | |
| yaw : Desired yaw angle in degrees * 100 (int16_t) | |
| ''' | |
| msg = MAVLink_global_position_setpoint_int_message(coordinate_frame, latitude, longitude, altitude, yaw) | |
| msg.pack(self) | |
| return msg | |
| def global_position_setpoint_int_send(self, coordinate_frame, latitude, longitude, altitude, yaw): | |
| ''' | |
| Transmit the current local setpoint of the controller to other MAVs | |
| (collision avoidance) and to the GCS. | |
| coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t) | |
| latitude : WGS84 Latitude position in degrees * 1E7 (int32_t) | |
| longitude : WGS84 Longitude position in degrees * 1E7 (int32_t) | |
| altitude : WGS84 Altitude in meters * 1000 (positive for up) (int32_t) | |
| yaw : Desired yaw angle in degrees * 100 (int16_t) | |
| ''' | |
| return self.send(self.global_position_setpoint_int_encode(coordinate_frame, latitude, longitude, altitude, yaw)) | |
| def set_global_position_setpoint_int_encode(self, coordinate_frame, latitude, longitude, altitude, yaw): | |
| ''' | |
| Set the current global position setpoint. | |
| coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t) | |
| latitude : WGS84 Latitude position in degrees * 1E7 (int32_t) | |
| longitude : WGS84 Longitude position in degrees * 1E7 (int32_t) | |
| altitude : WGS84 Altitude in meters * 1000 (positive for up) (int32_t) | |
| yaw : Desired yaw angle in degrees * 100 (int16_t) | |
| ''' | |
| msg = MAVLink_set_global_position_setpoint_int_message(coordinate_frame, latitude, longitude, altitude, yaw) | |
| msg.pack(self) | |
| return msg | |
| def set_global_position_setpoint_int_send(self, coordinate_frame, latitude, longitude, altitude, yaw): | |
| ''' | |
| Set the current global position setpoint. | |
| coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t) | |
| latitude : WGS84 Latitude position in degrees * 1E7 (int32_t) | |
| longitude : WGS84 Longitude position in degrees * 1E7 (int32_t) | |
| altitude : WGS84 Altitude in meters * 1000 (positive for up) (int32_t) | |
| yaw : Desired yaw angle in degrees * 100 (int16_t) | |
| ''' | |
| return self.send(self.set_global_position_setpoint_int_encode(coordinate_frame, latitude, longitude, altitude, yaw)) | |
| def safety_set_allowed_area_encode(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z): | |
| ''' | |
| Set a safety zone (volume), which is defined by two corners of a cube. | |
| This message can be used to tell the MAV which | |
| setpoints/MISSIONs to accept and which to reject. | |
| Safety areas are often enforced by national or | |
| competition regulations. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| frame : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t) | |
| p1x : x position 1 / Latitude 1 (float) | |
| p1y : y position 1 / Longitude 1 (float) | |
| p1z : z position 1 / Altitude 1 (float) | |
| p2x : x position 2 / Latitude 2 (float) | |
| p2y : y position 2 / Longitude 2 (float) | |
| p2z : z position 2 / Altitude 2 (float) | |
| ''' | |
| msg = MAVLink_safety_set_allowed_area_message(target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z) | |
| msg.pack(self) | |
| return msg | |
| def safety_set_allowed_area_send(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z): | |
| ''' | |
| Set a safety zone (volume), which is defined by two corners of a cube. | |
| This message can be used to tell the MAV which | |
| setpoints/MISSIONs to accept and which to reject. | |
| Safety areas are often enforced by national or | |
| competition regulations. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| frame : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t) | |
| p1x : x position 1 / Latitude 1 (float) | |
| p1y : y position 1 / Longitude 1 (float) | |
| p1z : z position 1 / Altitude 1 (float) | |
| p2x : x position 2 / Latitude 2 (float) | |
| p2y : y position 2 / Longitude 2 (float) | |
| p2z : z position 2 / Altitude 2 (float) | |
| ''' | |
| return self.send(self.safety_set_allowed_area_encode(target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z)) | |
| def safety_allowed_area_encode(self, frame, p1x, p1y, p1z, p2x, p2y, p2z): | |
| ''' | |
| Read out the safety zone the MAV currently assumes. | |
| frame : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t) | |
| p1x : x position 1 / Latitude 1 (float) | |
| p1y : y position 1 / Longitude 1 (float) | |
| p1z : z position 1 / Altitude 1 (float) | |
| p2x : x position 2 / Latitude 2 (float) | |
| p2y : y position 2 / Longitude 2 (float) | |
| p2z : z position 2 / Altitude 2 (float) | |
| ''' | |
| msg = MAVLink_safety_allowed_area_message(frame, p1x, p1y, p1z, p2x, p2y, p2z) | |
| msg.pack(self) | |
| return msg | |
| def safety_allowed_area_send(self, frame, p1x, p1y, p1z, p2x, p2y, p2z): | |
| ''' | |
| Read out the safety zone the MAV currently assumes. | |
| frame : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t) | |
| p1x : x position 1 / Latitude 1 (float) | |
| p1y : y position 1 / Longitude 1 (float) | |
| p1z : z position 1 / Altitude 1 (float) | |
| p2x : x position 2 / Latitude 2 (float) | |
| p2y : y position 2 / Longitude 2 (float) | |
| p2z : z position 2 / Altitude 2 (float) | |
| ''' | |
| return self.send(self.safety_allowed_area_encode(frame, p1x, p1y, p1z, p2x, p2y, p2z)) | |
| def set_roll_pitch_yaw_thrust_encode(self, target_system, target_component, roll, pitch, yaw, thrust): | |
| ''' | |
| Set roll, pitch and yaw. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| roll : Desired roll angle in radians (float) | |
| pitch : Desired pitch angle in radians (float) | |
| yaw : Desired yaw angle in radians (float) | |
| thrust : Collective thrust, normalized to 0 .. 1 (float) | |
| ''' | |
| msg = MAVLink_set_roll_pitch_yaw_thrust_message(target_system, target_component, roll, pitch, yaw, thrust) | |
| msg.pack(self) | |
| return msg | |
| def set_roll_pitch_yaw_thrust_send(self, target_system, target_component, roll, pitch, yaw, thrust): | |
| ''' | |
| Set roll, pitch and yaw. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| roll : Desired roll angle in radians (float) | |
| pitch : Desired pitch angle in radians (float) | |
| yaw : Desired yaw angle in radians (float) | |
| thrust : Collective thrust, normalized to 0 .. 1 (float) | |
| ''' | |
| return self.send(self.set_roll_pitch_yaw_thrust_encode(target_system, target_component, roll, pitch, yaw, thrust)) | |
| def set_roll_pitch_yaw_speed_thrust_encode(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust): | |
| ''' | |
| Set roll, pitch and yaw. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| roll_speed : Desired roll angular speed in rad/s (float) | |
| pitch_speed : Desired pitch angular speed in rad/s (float) | |
| yaw_speed : Desired yaw angular speed in rad/s (float) | |
| thrust : Collective thrust, normalized to 0 .. 1 (float) | |
| ''' | |
| msg = MAVLink_set_roll_pitch_yaw_speed_thrust_message(target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust) | |
| msg.pack(self) | |
| return msg | |
| def set_roll_pitch_yaw_speed_thrust_send(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust): | |
| ''' | |
| Set roll, pitch and yaw. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| roll_speed : Desired roll angular speed in rad/s (float) | |
| pitch_speed : Desired pitch angular speed in rad/s (float) | |
| yaw_speed : Desired yaw angular speed in rad/s (float) | |
| thrust : Collective thrust, normalized to 0 .. 1 (float) | |
| ''' | |
| return self.send(self.set_roll_pitch_yaw_speed_thrust_encode(target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust)) | |
| def roll_pitch_yaw_thrust_setpoint_encode(self, time_boot_ms, roll, pitch, yaw, thrust): | |
| ''' | |
| Setpoint in roll, pitch, yaw currently active on the system. | |
| time_boot_ms : Timestamp in milliseconds since system boot (uint32_t) | |
| roll : Desired roll angle in radians (float) | |
| pitch : Desired pitch angle in radians (float) | |
| yaw : Desired yaw angle in radians (float) | |
| thrust : Collective thrust, normalized to 0 .. 1 (float) | |
| ''' | |
| msg = MAVLink_roll_pitch_yaw_thrust_setpoint_message(time_boot_ms, roll, pitch, yaw, thrust) | |
| msg.pack(self) | |
| return msg | |
| def roll_pitch_yaw_thrust_setpoint_send(self, time_boot_ms, roll, pitch, yaw, thrust): | |
| ''' | |
| Setpoint in roll, pitch, yaw currently active on the system. | |
| time_boot_ms : Timestamp in milliseconds since system boot (uint32_t) | |
| roll : Desired roll angle in radians (float) | |
| pitch : Desired pitch angle in radians (float) | |
| yaw : Desired yaw angle in radians (float) | |
| thrust : Collective thrust, normalized to 0 .. 1 (float) | |
| ''' | |
| return self.send(self.roll_pitch_yaw_thrust_setpoint_encode(time_boot_ms, roll, pitch, yaw, thrust)) | |
| def roll_pitch_yaw_speed_thrust_setpoint_encode(self, time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust): | |
| ''' | |
| Setpoint in rollspeed, pitchspeed, yawspeed currently active on the | |
| system. | |
| time_boot_ms : Timestamp in milliseconds since system boot (uint32_t) | |
| roll_speed : Desired roll angular speed in rad/s (float) | |
| pitch_speed : Desired pitch angular speed in rad/s (float) | |
| yaw_speed : Desired yaw angular speed in rad/s (float) | |
| thrust : Collective thrust, normalized to 0 .. 1 (float) | |
| ''' | |
| msg = MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message(time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust) | |
| msg.pack(self) | |
| return msg | |
| def roll_pitch_yaw_speed_thrust_setpoint_send(self, time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust): | |
| ''' | |
| Setpoint in rollspeed, pitchspeed, yawspeed currently active on the | |
| system. | |
| time_boot_ms : Timestamp in milliseconds since system boot (uint32_t) | |
| roll_speed : Desired roll angular speed in rad/s (float) | |
| pitch_speed : Desired pitch angular speed in rad/s (float) | |
| yaw_speed : Desired yaw angular speed in rad/s (float) | |
| thrust : Collective thrust, normalized to 0 .. 1 (float) | |
| ''' | |
| return self.send(self.roll_pitch_yaw_speed_thrust_setpoint_encode(time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust)) | |
| def set_quad_motors_setpoint_encode(self, target_system, motor_front_nw, motor_right_ne, motor_back_se, motor_left_sw): | |
| ''' | |
| Setpoint in the four motor speeds | |
| target_system : System ID of the system that should set these motor commands (uint8_t) | |
| motor_front_nw : Front motor in + configuration, front left motor in x configuration (uint16_t) | |
| motor_right_ne : Right motor in + configuration, front right motor in x configuration (uint16_t) | |
| motor_back_se : Back motor in + configuration, back right motor in x configuration (uint16_t) | |
| motor_left_sw : Left motor in + configuration, back left motor in x configuration (uint16_t) | |
| ''' | |
| msg = MAVLink_set_quad_motors_setpoint_message(target_system, motor_front_nw, motor_right_ne, motor_back_se, motor_left_sw) | |
| msg.pack(self) | |
| return msg | |
| def set_quad_motors_setpoint_send(self, target_system, motor_front_nw, motor_right_ne, motor_back_se, motor_left_sw): | |
| ''' | |
| Setpoint in the four motor speeds | |
| target_system : System ID of the system that should set these motor commands (uint8_t) | |
| motor_front_nw : Front motor in + configuration, front left motor in x configuration (uint16_t) | |
| motor_right_ne : Right motor in + configuration, front right motor in x configuration (uint16_t) | |
| motor_back_se : Back motor in + configuration, back right motor in x configuration (uint16_t) | |
| motor_left_sw : Left motor in + configuration, back left motor in x configuration (uint16_t) | |
| ''' | |
| return self.send(self.set_quad_motors_setpoint_encode(target_system, motor_front_nw, motor_right_ne, motor_back_se, motor_left_sw)) | |
| def set_quad_swarm_roll_pitch_yaw_thrust_encode(self, group, mode, roll, pitch, yaw, thrust): | |
| ''' | |
| Setpoint for up to four quadrotors in a group / wing | |
| group : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t) | |
| mode : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t) | |
| roll : Desired roll angle in radians +-PI (+-32767) (int16_t) | |
| pitch : Desired pitch angle in radians +-PI (+-32767) (int16_t) | |
| yaw : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t) | |
| thrust : Collective thrust, scaled to uint16 (0..65535) (uint16_t) | |
| ''' | |
| msg = MAVLink_set_quad_swarm_roll_pitch_yaw_thrust_message(group, mode, roll, pitch, yaw, thrust) | |
| msg.pack(self) | |
| return msg | |
| def set_quad_swarm_roll_pitch_yaw_thrust_send(self, group, mode, roll, pitch, yaw, thrust): | |
| ''' | |
| Setpoint for up to four quadrotors in a group / wing | |
| group : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t) | |
| mode : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t) | |
| roll : Desired roll angle in radians +-PI (+-32767) (int16_t) | |
| pitch : Desired pitch angle in radians +-PI (+-32767) (int16_t) | |
| yaw : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t) | |
| thrust : Collective thrust, scaled to uint16 (0..65535) (uint16_t) | |
| ''' | |
| return self.send(self.set_quad_swarm_roll_pitch_yaw_thrust_encode(group, mode, roll, pitch, yaw, thrust)) | |
| def nav_controller_output_encode(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error): | |
| ''' | |
| 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. | |
| nav_roll : Current desired roll in degrees (float) | |
| nav_pitch : Current desired pitch in degrees (float) | |
| nav_bearing : Current desired heading in degrees (int16_t) | |
| target_bearing : Bearing to current MISSION/target in degrees (int16_t) | |
| wp_dist : Distance to active MISSION in meters (uint16_t) | |
| alt_error : Current altitude error in meters (float) | |
| aspd_error : Current airspeed error in meters/second (float) | |
| xtrack_error : Current crosstrack error on x-y plane in meters (float) | |
| ''' | |
| msg = MAVLink_nav_controller_output_message(nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error) | |
| msg.pack(self) | |
| return msg | |
| def nav_controller_output_send(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error): | |
| ''' | |
| 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. | |
| nav_roll : Current desired roll in degrees (float) | |
| nav_pitch : Current desired pitch in degrees (float) | |
| nav_bearing : Current desired heading in degrees (int16_t) | |
| target_bearing : Bearing to current MISSION/target in degrees (int16_t) | |
| wp_dist : Distance to active MISSION in meters (uint16_t) | |
| alt_error : Current altitude error in meters (float) | |
| aspd_error : Current airspeed error in meters/second (float) | |
| xtrack_error : Current crosstrack error on x-y plane in meters (float) | |
| ''' | |
| return self.send(self.nav_controller_output_encode(nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error)) | |
| def set_quad_swarm_led_roll_pitch_yaw_thrust_encode(self, group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust): | |
| ''' | |
| Setpoint for up to four quadrotors in a group / wing | |
| group : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t) | |
| mode : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t) | |
| led_red : RGB red channel (0-255) (uint8_t) | |
| led_blue : RGB green channel (0-255) (uint8_t) | |
| led_green : RGB blue channel (0-255) (uint8_t) | |
| roll : Desired roll angle in radians +-PI (+-32767) (int16_t) | |
| pitch : Desired pitch angle in radians +-PI (+-32767) (int16_t) | |
| yaw : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t) | |
| thrust : Collective thrust, scaled to uint16 (0..65535) (uint16_t) | |
| ''' | |
| msg = MAVLink_set_quad_swarm_led_roll_pitch_yaw_thrust_message(group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust) | |
| msg.pack(self) | |
| return msg | |
| def set_quad_swarm_led_roll_pitch_yaw_thrust_send(self, group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust): | |
| ''' | |
| Setpoint for up to four quadrotors in a group / wing | |
| group : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t) | |
| mode : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t) | |
| led_red : RGB red channel (0-255) (uint8_t) | |
| led_blue : RGB green channel (0-255) (uint8_t) | |
| led_green : RGB blue channel (0-255) (uint8_t) | |
| roll : Desired roll angle in radians +-PI (+-32767) (int16_t) | |
| pitch : Desired pitch angle in radians +-PI (+-32767) (int16_t) | |
| yaw : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t) | |
| thrust : Collective thrust, scaled to uint16 (0..65535) (uint16_t) | |
| ''' | |
| return self.send(self.set_quad_swarm_led_roll_pitch_yaw_thrust_encode(group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust)) | |
| def state_correction_encode(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr): | |
| ''' | |
| Corrects the systems state by adding an error correction term to the | |
| position and velocity, and by rotating the attitude by | |
| a correction angle. | |
| xErr : x position error (float) | |
| yErr : y position error (float) | |
| zErr : z position error (float) | |
| rollErr : roll error (radians) (float) | |
| pitchErr : pitch error (radians) (float) | |
| yawErr : yaw error (radians) (float) | |
| vxErr : x velocity (float) | |
| vyErr : y velocity (float) | |
| vzErr : z velocity (float) | |
| ''' | |
| msg = MAVLink_state_correction_message(xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr) | |
| msg.pack(self) | |
| return msg | |
| def state_correction_send(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr): | |
| ''' | |
| Corrects the systems state by adding an error correction term to the | |
| position and velocity, and by rotating the attitude by | |
| a correction angle. | |
| xErr : x position error (float) | |
| yErr : y position error (float) | |
| zErr : z position error (float) | |
| rollErr : roll error (radians) (float) | |
| pitchErr : pitch error (radians) (float) | |
| yawErr : yaw error (radians) (float) | |
| vxErr : x velocity (float) | |
| vyErr : y velocity (float) | |
| vzErr : z velocity (float) | |
| ''' | |
| return self.send(self.state_correction_encode(xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr)) | |
| def request_data_stream_encode(self, target_system, target_component, req_stream_id, req_message_rate, start_stop): | |
| ''' | |
| target_system : The target requested to send the message stream. (uint8_t) | |
| target_component : The target requested to send the message stream. (uint8_t) | |
| req_stream_id : The ID of the requested data stream (uint8_t) | |
| req_message_rate : The requested interval between two messages of this type (uint16_t) | |
| start_stop : 1 to start sending, 0 to stop sending. (uint8_t) | |
| ''' | |
| msg = MAVLink_request_data_stream_message(target_system, target_component, req_stream_id, req_message_rate, start_stop) | |
| msg.pack(self) | |
| return msg | |
| def request_data_stream_send(self, target_system, target_component, req_stream_id, req_message_rate, start_stop): | |
| ''' | |
| target_system : The target requested to send the message stream. (uint8_t) | |
| target_component : The target requested to send the message stream. (uint8_t) | |
| req_stream_id : The ID of the requested data stream (uint8_t) | |
| req_message_rate : The requested interval between two messages of this type (uint16_t) | |
| start_stop : 1 to start sending, 0 to stop sending. (uint8_t) | |
| ''' | |
| return self.send(self.request_data_stream_encode(target_system, target_component, req_stream_id, req_message_rate, start_stop)) | |
| def data_stream_encode(self, stream_id, message_rate, on_off): | |
| ''' | |
| stream_id : The ID of the requested data stream (uint8_t) | |
| message_rate : The requested interval between two messages of this type (uint16_t) | |
| on_off : 1 stream is enabled, 0 stream is stopped. (uint8_t) | |
| ''' | |
| msg = MAVLink_data_stream_message(stream_id, message_rate, on_off) | |
| msg.pack(self) | |
| return msg | |
| def data_stream_send(self, stream_id, message_rate, on_off): | |
| ''' | |
| stream_id : The ID of the requested data stream (uint8_t) | |
| message_rate : The requested interval between two messages of this type (uint16_t) | |
| on_off : 1 stream is enabled, 0 stream is stopped. (uint8_t) | |
| ''' | |
| return self.send(self.data_stream_encode(stream_id, message_rate, on_off)) | |
| def manual_control_encode(self, target, x, y, z, r, buttons): | |
| ''' | |
| This message provides an API for manually controlling the vehicle | |
| using standard joystick axes nomenclature, along with | |
| a joystick-like input device. Unused axes can be | |
| disabled an buttons are also transmit as boolean | |
| values of their | |
| target : The system to be controlled. (uint8_t) | |
| x : X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. (int16_t) | |
| y : Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. (int16_t) | |
| z : Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. (int16_t) | |
| r : R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. (int16_t) | |
| buttons : A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. (uint16_t) | |
| ''' | |
| msg = MAVLink_manual_control_message(target, x, y, z, r, buttons) | |
| msg.pack(self) | |
| return msg | |
| def manual_control_send(self, target, x, y, z, r, buttons): | |
| ''' | |
| This message provides an API for manually controlling the vehicle | |
| using standard joystick axes nomenclature, along with | |
| a joystick-like input device. Unused axes can be | |
| disabled an buttons are also transmit as boolean | |
| values of their | |
| target : The system to be controlled. (uint8_t) | |
| x : X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. (int16_t) | |
| y : Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. (int16_t) | |
| z : Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. (int16_t) | |
| r : R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. (int16_t) | |
| buttons : A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. (uint16_t) | |
| ''' | |
| return self.send(self.manual_control_encode(target, x, y, z, r, buttons)) | |
| def rc_channels_override_encode(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw): | |
| ''' | |
| The RAW values of the RC channels sent to the MAV to override info | |
| received from the RC radio. A value of -1 means no | |
| change to that channel. A value of 0 means control of | |
| that channel should be released back to the RC radio. | |
| The standard PPM modulation is as follows: 1000 | |
| microseconds: 0%, 2000 microseconds: 100%. Individual | |
| receivers/transmitters might violate this | |
| specification. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| chan1_raw : RC channel 1 value, in microseconds (uint16_t) | |
| chan2_raw : RC channel 2 value, in microseconds (uint16_t) | |
| chan3_raw : RC channel 3 value, in microseconds (uint16_t) | |
| chan4_raw : RC channel 4 value, in microseconds (uint16_t) | |
| chan5_raw : RC channel 5 value, in microseconds (uint16_t) | |
| chan6_raw : RC channel 6 value, in microseconds (uint16_t) | |
| chan7_raw : RC channel 7 value, in microseconds (uint16_t) | |
| chan8_raw : RC channel 8 value, in microseconds (uint16_t) | |
| ''' | |
| msg = MAVLink_rc_channels_override_message(target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw) | |
| msg.pack(self) | |
| return msg | |
| def rc_channels_override_send(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw): | |
| ''' | |
| The RAW values of the RC channels sent to the MAV to override info | |
| received from the RC radio. A value of -1 means no | |
| change to that channel. A value of 0 means control of | |
| that channel should be released back to the RC radio. | |
| The standard PPM modulation is as follows: 1000 | |
| microseconds: 0%, 2000 microseconds: 100%. Individual | |
| receivers/transmitters might violate this | |
| specification. | |
| target_system : System ID (uint8_t) | |
| target_component : Component ID (uint8_t) | |
| chan1_raw : RC channel 1 value, in microseconds (uint16_t) | |
| chan2_raw : RC channel 2 value, in microseconds (uint16_t) | |
| chan3_raw : RC channel 3 value, in microseconds (uint16_t) | |
| chan4_raw : RC channel 4 value, in microseconds (uint16_t) | |
| chan5_raw : RC channel 5 value, in microseconds (uint16_t) | |
| chan6_raw : RC channel 6 value, in microseconds (uint16_t) | |
| chan7_raw : RC channel 7 value, in microseconds (uint16_t) | |
| chan8_raw : RC channel 8 value, in microseconds (uint16_t) | |
| ''' | |
| return self.send(self.rc_channels_override_encode(target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw)) | |
| def vfr_hud_encode(self, airspeed, groundspeed, heading, throttle, alt, climb): | |
| ''' | |
| Metrics typically displayed on a HUD for fixed wing aircraft | |
| airspeed : Current airspeed in m/s (float) | |
| groundspeed : Current ground speed in m/s (float) | |
| heading : Current heading in degrees, in compass units (0..360, 0=north) (int16_t) | |
| throttle : Current throttle setting in integer percent, 0 to 100 (uint16_t) | |
| alt : Current altitude (MSL), in meters (float) | |
| climb : Current climb rate in meters/second (float) | |
| ''' | |
| msg = MAVLink_vfr_hud_message(airspeed, groundspeed, heading, throttle, alt, climb) | |
| msg.pack(self) | |
| return msg | |
| def vfr_hud_send(self, airspeed, groundspeed, heading, throttle, alt, climb): | |
| ''' | |
| Metrics typically displayed on a HUD for fixed wing aircraft | |
| airspeed : Current airspeed in m/s (float) | |
| groundspeed : Current ground speed in m/s (float) | |
| heading : Current heading in degrees, in compass units (0..360, 0=north) (int16_t) | |
| throttle : Current throttle setting in integer percent, 0 to 100 (uint16_t) | |
| alt : Current altitude (MSL), in meters (float) | |
| climb : Current climb rate in meters/second (float) | |
| ''' | |
| return self.send(self.vfr_hud_encode(airspeed, groundspeed, heading, throttle, alt, climb)) | |
| def command_long_encode(self, target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7): | |
| ''' | |
| Send a command with up to four parameters to the MAV | |
| target_system : System which should execute the command (uint8_t) | |
| target_component : Component which should execute the command, 0 for all components (uint8_t) | |
| command : Command ID, as defined by MAV_CMD enum. (uint16_t) | |
| confirmation : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t) | |
| param1 : Parameter 1, as defined by MAV_CMD enum. (float) | |
| param2 : Parameter 2, as defined by MAV_CMD enum. (float) | |
| param3 : Parameter 3, as defined by MAV_CMD enum. (float) | |
| param4 : Parameter 4, as defined by MAV_CMD enum. (float) | |
| param5 : Parameter 5, as defined by MAV_CMD enum. (float) | |
| param6 : Parameter 6, as defined by MAV_CMD enum. (float) | |
| param7 : Parameter 7, as defined by MAV_CMD enum. (float) | |
| ''' | |
| msg = MAVLink_command_long_message(target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7) | |
| msg.pack(self) | |
| return msg | |
| def command_long_send(self, target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7): | |
| ''' | |
| Send a command with up to four parameters to the MAV | |
| target_system : System which should execute the command (uint8_t) | |
| target_component : Component which should execute the command, 0 for all components (uint8_t) | |
| command : Command ID, as defined by MAV_CMD enum. (uint16_t) | |
| confirmation : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t) | |
| param1 : Parameter 1, as defined by MAV_CMD enum. (float) | |
| param2 : Parameter 2, as defined by MAV_CMD enum. (float) | |
| param3 : Parameter 3, as defined by MAV_CMD enum. (float) | |
| param4 : Parameter 4, as defined by MAV_CMD enum. (float) | |
| param5 : Parameter 5, as defined by MAV_CMD enum. (float) | |
| param6 : Parameter 6, as defined by MAV_CMD enum. (float) | |
| param7 : Parameter 7, as defined by MAV_CMD enum. (float) | |
| ''' | |
| return self.send(self.command_long_encode(target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7)) | |
| def command_ack_encode(self, command, result): | |
| ''' | |
| Report status of a command. Includes feedback wether the command was | |
| executed. | |
| command : Command ID, as defined by MAV_CMD enum. (uint16_t) | |
| result : See MAV_RESULT enum (uint8_t) | |
| ''' | |
| msg = MAVLink_command_ack_message(command, result) | |
| msg.pack(self) | |
| return msg | |
| def command_ack_send(self, command, result): | |
| ''' | |
| Report status of a command. Includes feedback wether the command was | |
| executed. | |
| command : Command ID, as defined by MAV_CMD enum. (uint16_t) | |
| result : See MAV_RESULT enum (uint8_t) | |
| ''' | |
| return self.send(self.command_ack_encode(command, result)) | |
| def roll_pitch_yaw_rates_thrust_setpoint_encode(self, time_boot_ms, roll_rate, pitch_rate, yaw_rate, thrust): | |
| ''' | |
| Setpoint in roll, pitch, yaw rates and thrust currently active on the | |
| system. | |
| time_boot_ms : Timestamp in milliseconds since system boot (uint32_t) | |
| roll_rate : Desired roll rate in radians per second (float) | |
| pitch_rate : Desired pitch rate in radians per second (float) | |
| yaw_rate : Desired yaw rate in radians per second (float) | |
| thrust : Collective thrust, normalized to 0 .. 1 (float) | |
| ''' | |
| msg = MAVLink_roll_pitch_yaw_rates_thrust_setpoint_message(time_boot_ms, roll_rate, pitch_rate, yaw_rate, thrust) | |
| msg.pack(self) | |
| return msg | |
| def roll_pitch_yaw_rates_thrust_setpoint_send(self, time_boot_ms, roll_rate, pitch_rate, yaw_rate, thrust): | |
| ''' | |
| Setpoint in roll, pitch, yaw rates and thrust currently active on the | |
| system. | |
| time_boot_ms : Timestamp in milliseconds since system boot (uint32_t) | |
| roll_rate : Desired roll rate in radians per second (float) | |
| pitch_rate : Desired pitch rate in radians per second (float) | |
| yaw_rate : Desired yaw rate in radians per second (float) | |
| thrust : Collective thrust, normalized to 0 .. 1 (float) | |
| ''' | |
| return self.send(self.roll_pitch_yaw_rates_thrust_setpoint_encode(time_boot_ms, roll_rate, pitch_rate, yaw_rate, thrust)) | |
| def manual_setpoint_encode(self, time_boot_ms, roll, pitch, yaw, thrust, mode_switch, manual_override_switch): | |
| ''' | |
| Setpoint in roll, pitch, yaw and thrust from the operator | |
| time_boot_ms : Timestamp in milliseconds since system boot (uint32_t) | |
| roll : Desired roll rate in radians per second (float) | |
| pitch : Desired pitch rate in radians per second (float) | |
| yaw : Desired yaw rate in radians per second (float) | |
| thrust : Collective thrust, normalized to 0 .. 1 (float) | |
| mode_switch : Flight mode switch position, 0.. 255 (uint8_t) | |
| manual_override_switch : Override mode switch position, 0.. 255 (uint8_t) | |
| ''' | |
| msg = MAVLink_manual_setpoint_message(time_boot_ms, roll, pitch, yaw, thrust, mode_switch, manual_override_switch) | |
| msg.pack(self) | |
| return msg | |
| def manual_setpoint_send(self, time_boot_ms, roll, pitch, yaw, thrust, mode_switch, manual_override_switch): | |
| ''' | |
| Setpoint in roll, pitch, yaw and thrust from the operator | |
| time_boot_ms : Timestamp in milliseconds since system boot (uint32_t) | |
| roll : Desired roll rate in radians per second (float) | |
| pitch : Desired pitch rate in radians per second (float) | |
| yaw : Desired yaw rate in radians per second (float) | |
| thrust : Collective thrust, normalized to 0 .. 1 (float) | |
| mode_switch : Flight mode switch position, 0.. 255 (uint8_t) | |
| manual_override_switch : Override mode switch position, 0.. 255 (uint8_t) | |
| ''' | |
| return self.send(self.manual_setpoint_encode(time_boot_ms, roll, pitch, yaw, thrust, mode_switch, manual_override_switch)) | |
| def local_position_ned_system_global_offset_encode(self, time_boot_ms, x, y, z, roll, pitch, yaw): | |
| ''' | |
| The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages | |
| of MAV X and the global coordinate frame in NED | |
| coordinates. Coordinate frame is right-handed, Z-axis | |
| down (aeronautical frame, NED / north-east-down | |
| convention) | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| x : X Position (float) | |
| y : Y Position (float) | |
| z : Z Position (float) | |
| roll : Roll (float) | |
| pitch : Pitch (float) | |
| yaw : Yaw (float) | |
| ''' | |
| msg = MAVLink_local_position_ned_system_global_offset_message(time_boot_ms, x, y, z, roll, pitch, yaw) | |
| msg.pack(self) | |
| return msg | |
| def local_position_ned_system_global_offset_send(self, time_boot_ms, x, y, z, roll, pitch, yaw): | |
| ''' | |
| The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages | |
| of MAV X and the global coordinate frame in NED | |
| coordinates. Coordinate frame is right-handed, Z-axis | |
| down (aeronautical frame, NED / north-east-down | |
| convention) | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| x : X Position (float) | |
| y : Y Position (float) | |
| z : Z Position (float) | |
| roll : Roll (float) | |
| pitch : Pitch (float) | |
| yaw : Yaw (float) | |
| ''' | |
| return self.send(self.local_position_ned_system_global_offset_encode(time_boot_ms, x, y, z, roll, pitch, yaw)) | |
| def hil_state_encode(self, time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc): | |
| ''' | |
| Sent from simulation to autopilot. This packet is useful for high | |
| throughput applications such as hardware in the loop | |
| simulations. | |
| time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) | |
| roll : Roll angle (rad) (float) | |
| pitch : Pitch angle (rad) (float) | |
| yaw : Yaw angle (rad) (float) | |
| rollspeed : Roll angular speed (rad/s) (float) | |
| pitchspeed : Pitch angular speed (rad/s) (float) | |
| yawspeed : Yaw angular speed (rad/s) (float) | |
| lat : Latitude, expressed as * 1E7 (int32_t) | |
| lon : Longitude, expressed as * 1E7 (int32_t) | |
| alt : Altitude in meters, expressed as * 1000 (millimeters) (int32_t) | |
| vx : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t) | |
| vy : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t) | |
| vz : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t) | |
| xacc : X acceleration (mg) (int16_t) | |
| yacc : Y acceleration (mg) (int16_t) | |
| zacc : Z acceleration (mg) (int16_t) | |
| ''' | |
| msg = MAVLink_hil_state_message(time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc) | |
| msg.pack(self) | |
| return msg | |
| def hil_state_send(self, time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc): | |
| ''' | |
| Sent from simulation to autopilot. This packet is useful for high | |
| throughput applications such as hardware in the loop | |
| simulations. | |
| time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) | |
| roll : Roll angle (rad) (float) | |
| pitch : Pitch angle (rad) (float) | |
| yaw : Yaw angle (rad) (float) | |
| rollspeed : Roll angular speed (rad/s) (float) | |
| pitchspeed : Pitch angular speed (rad/s) (float) | |
| yawspeed : Yaw angular speed (rad/s) (float) | |
| lat : Latitude, expressed as * 1E7 (int32_t) | |
| lon : Longitude, expressed as * 1E7 (int32_t) | |
| alt : Altitude in meters, expressed as * 1000 (millimeters) (int32_t) | |
| vx : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t) | |
| vy : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t) | |
| vz : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t) | |
| xacc : X acceleration (mg) (int16_t) | |
| yacc : Y acceleration (mg) (int16_t) | |
| zacc : Z acceleration (mg) (int16_t) | |
| ''' | |
| return self.send(self.hil_state_encode(time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc)) | |
| def hil_controls_encode(self, time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode): | |
| ''' | |
| Sent from autopilot to simulation. Hardware in the loop control | |
| outputs | |
| time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) | |
| roll_ailerons : Control output -1 .. 1 (float) | |
| pitch_elevator : Control output -1 .. 1 (float) | |
| yaw_rudder : Control output -1 .. 1 (float) | |
| throttle : Throttle 0 .. 1 (float) | |
| aux1 : Aux 1, -1 .. 1 (float) | |
| aux2 : Aux 2, -1 .. 1 (float) | |
| aux3 : Aux 3, -1 .. 1 (float) | |
| aux4 : Aux 4, -1 .. 1 (float) | |
| mode : System mode (MAV_MODE) (uint8_t) | |
| nav_mode : Navigation mode (MAV_NAV_MODE) (uint8_t) | |
| ''' | |
| msg = MAVLink_hil_controls_message(time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode) | |
| msg.pack(self) | |
| return msg | |
| def hil_controls_send(self, time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode): | |
| ''' | |
| Sent from autopilot to simulation. Hardware in the loop control | |
| outputs | |
| time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) | |
| roll_ailerons : Control output -1 .. 1 (float) | |
| pitch_elevator : Control output -1 .. 1 (float) | |
| yaw_rudder : Control output -1 .. 1 (float) | |
| throttle : Throttle 0 .. 1 (float) | |
| aux1 : Aux 1, -1 .. 1 (float) | |
| aux2 : Aux 2, -1 .. 1 (float) | |
| aux3 : Aux 3, -1 .. 1 (float) | |
| aux4 : Aux 4, -1 .. 1 (float) | |
| mode : System mode (MAV_MODE) (uint8_t) | |
| nav_mode : Navigation mode (MAV_NAV_MODE) (uint8_t) | |
| ''' | |
| return self.send(self.hil_controls_encode(time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode)) | |
| def hil_rc_inputs_raw_encode(self, time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi): | |
| ''' | |
| Sent from simulation to autopilot. The RAW values of the RC channels | |
| received. The standard PPM modulation is as follows: | |
| 1000 microseconds: 0%, 2000 microseconds: 100%. | |
| Individual receivers/transmitters might violate this | |
| specification. | |
| time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) | |
| chan1_raw : RC channel 1 value, in microseconds (uint16_t) | |
| chan2_raw : RC channel 2 value, in microseconds (uint16_t) | |
| chan3_raw : RC channel 3 value, in microseconds (uint16_t) | |
| chan4_raw : RC channel 4 value, in microseconds (uint16_t) | |
| chan5_raw : RC channel 5 value, in microseconds (uint16_t) | |
| chan6_raw : RC channel 6 value, in microseconds (uint16_t) | |
| chan7_raw : RC channel 7 value, in microseconds (uint16_t) | |
| chan8_raw : RC channel 8 value, in microseconds (uint16_t) | |
| chan9_raw : RC channel 9 value, in microseconds (uint16_t) | |
| chan10_raw : RC channel 10 value, in microseconds (uint16_t) | |
| chan11_raw : RC channel 11 value, in microseconds (uint16_t) | |
| chan12_raw : RC channel 12 value, in microseconds (uint16_t) | |
| rssi : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t) | |
| ''' | |
| msg = MAVLink_hil_rc_inputs_raw_message(time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi) | |
| msg.pack(self) | |
| return msg | |
| def hil_rc_inputs_raw_send(self, time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi): | |
| ''' | |
| Sent from simulation to autopilot. The RAW values of the RC channels | |
| received. The standard PPM modulation is as follows: | |
| 1000 microseconds: 0%, 2000 microseconds: 100%. | |
| Individual receivers/transmitters might violate this | |
| specification. | |
| time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) | |
| chan1_raw : RC channel 1 value, in microseconds (uint16_t) | |
| chan2_raw : RC channel 2 value, in microseconds (uint16_t) | |
| chan3_raw : RC channel 3 value, in microseconds (uint16_t) | |
| chan4_raw : RC channel 4 value, in microseconds (uint16_t) | |
| chan5_raw : RC channel 5 value, in microseconds (uint16_t) | |
| chan6_raw : RC channel 6 value, in microseconds (uint16_t) | |
| chan7_raw : RC channel 7 value, in microseconds (uint16_t) | |
| chan8_raw : RC channel 8 value, in microseconds (uint16_t) | |
| chan9_raw : RC channel 9 value, in microseconds (uint16_t) | |
| chan10_raw : RC channel 10 value, in microseconds (uint16_t) | |
| chan11_raw : RC channel 11 value, in microseconds (uint16_t) | |
| chan12_raw : RC channel 12 value, in microseconds (uint16_t) | |
| rssi : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t) | |
| ''' | |
| return self.send(self.hil_rc_inputs_raw_encode(time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi)) | |
| def optical_flow_encode(self, time_usec, sensor_id, flow_x, flow_y, flow_comp_m_x, flow_comp_m_y, quality, ground_distance): | |
| ''' | |
| Optical flow from a flow sensor (e.g. optical mouse sensor) | |
| time_usec : Timestamp (UNIX) (uint64_t) | |
| sensor_id : Sensor ID (uint8_t) | |
| flow_x : Flow in pixels in x-sensor direction (int16_t) | |
| flow_y : Flow in pixels in y-sensor direction (int16_t) | |
| flow_comp_m_x : Flow in meters in x-sensor direction, angular-speed compensated (float) | |
| flow_comp_m_y : Flow in meters in y-sensor direction, angular-speed compensated (float) | |
| quality : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t) | |
| ground_distance : Ground distance in meters. Positive value: distance known. Negative value: Unknown distance (float) | |
| ''' | |
| msg = MAVLink_optical_flow_message(time_usec, sensor_id, flow_x, flow_y, flow_comp_m_x, flow_comp_m_y, quality, ground_distance) | |
| msg.pack(self) | |
| return msg | |
| def optical_flow_send(self, time_usec, sensor_id, flow_x, flow_y, flow_comp_m_x, flow_comp_m_y, quality, ground_distance): | |
| ''' | |
| Optical flow from a flow sensor (e.g. optical mouse sensor) | |
| time_usec : Timestamp (UNIX) (uint64_t) | |
| sensor_id : Sensor ID (uint8_t) | |
| flow_x : Flow in pixels in x-sensor direction (int16_t) | |
| flow_y : Flow in pixels in y-sensor direction (int16_t) | |
| flow_comp_m_x : Flow in meters in x-sensor direction, angular-speed compensated (float) | |
| flow_comp_m_y : Flow in meters in y-sensor direction, angular-speed compensated (float) | |
| quality : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t) | |
| ground_distance : Ground distance in meters. Positive value: distance known. Negative value: Unknown distance (float) | |
| ''' | |
| return self.send(self.optical_flow_encode(time_usec, sensor_id, flow_x, flow_y, flow_comp_m_x, flow_comp_m_y, quality, ground_distance)) | |
| def global_vision_position_estimate_encode(self, usec, x, y, z, roll, pitch, yaw): | |
| ''' | |
| usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) | |
| x : Global X position (float) | |
| y : Global Y position (float) | |
| z : Global Z position (float) | |
| roll : Roll angle in rad (float) | |
| pitch : Pitch angle in rad (float) | |
| yaw : Yaw angle in rad (float) | |
| ''' | |
| msg = MAVLink_global_vision_position_estimate_message(usec, x, y, z, roll, pitch, yaw) | |
| msg.pack(self) | |
| return msg | |
| def global_vision_position_estimate_send(self, usec, x, y, z, roll, pitch, yaw): | |
| ''' | |
| usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) | |
| x : Global X position (float) | |
| y : Global Y position (float) | |
| z : Global Z position (float) | |
| roll : Roll angle in rad (float) | |
| pitch : Pitch angle in rad (float) | |
| yaw : Yaw angle in rad (float) | |
| ''' | |
| return self.send(self.global_vision_position_estimate_encode(usec, x, y, z, roll, pitch, yaw)) | |
| def vision_position_estimate_encode(self, usec, x, y, z, roll, pitch, yaw): | |
| ''' | |
| usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) | |
| x : Global X position (float) | |
| y : Global Y position (float) | |
| z : Global Z position (float) | |
| roll : Roll angle in rad (float) | |
| pitch : Pitch angle in rad (float) | |
| yaw : Yaw angle in rad (float) | |
| ''' | |
| msg = MAVLink_vision_position_estimate_message(usec, x, y, z, roll, pitch, yaw) | |
| msg.pack(self) | |
| return msg | |
| def vision_position_estimate_send(self, usec, x, y, z, roll, pitch, yaw): | |
| ''' | |
| usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) | |
| x : Global X position (float) | |
| y : Global Y position (float) | |
| z : Global Z position (float) | |
| roll : Roll angle in rad (float) | |
| pitch : Pitch angle in rad (float) | |
| yaw : Yaw angle in rad (float) | |
| ''' | |
| return self.send(self.vision_position_estimate_encode(usec, x, y, z, roll, pitch, yaw)) | |
| def vision_speed_estimate_encode(self, usec, x, y, z): | |
| ''' | |
| usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) | |
| x : Global X speed (float) | |
| y : Global Y speed (float) | |
| z : Global Z speed (float) | |
| ''' | |
| msg = MAVLink_vision_speed_estimate_message(usec, x, y, z) | |
| msg.pack(self) | |
| return msg | |
| def vision_speed_estimate_send(self, usec, x, y, z): | |
| ''' | |
| usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) | |
| x : Global X speed (float) | |
| y : Global Y speed (float) | |
| z : Global Z speed (float) | |
| ''' | |
| return self.send(self.vision_speed_estimate_encode(usec, x, y, z)) | |
| def vicon_position_estimate_encode(self, usec, x, y, z, roll, pitch, yaw): | |
| ''' | |
| usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) | |
| x : Global X position (float) | |
| y : Global Y position (float) | |
| z : Global Z position (float) | |
| roll : Roll angle in rad (float) | |
| pitch : Pitch angle in rad (float) | |
| yaw : Yaw angle in rad (float) | |
| ''' | |
| msg = MAVLink_vicon_position_estimate_message(usec, x, y, z, roll, pitch, yaw) | |
| msg.pack(self) | |
| return msg | |
| def vicon_position_estimate_send(self, usec, x, y, z, roll, pitch, yaw): | |
| ''' | |
| usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) | |
| x : Global X position (float) | |
| y : Global Y position (float) | |
| z : Global Z position (float) | |
| roll : Roll angle in rad (float) | |
| pitch : Pitch angle in rad (float) | |
| yaw : Yaw angle in rad (float) | |
| ''' | |
| return self.send(self.vicon_position_estimate_encode(usec, x, y, z, roll, pitch, yaw)) | |
| def highres_imu_encode(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag, abs_pressure, diff_pressure, pressure_alt, temperature, fields_updated): | |
| ''' | |
| The IMU readings in SI units in NED body frame | |
| time_usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) | |
| xacc : X acceleration (m/s^2) (float) | |
| yacc : Y acceleration (m/s^2) (float) | |
| zacc : Z acceleration (m/s^2) (float) | |
| xgyro : Angular speed around X axis (rad / sec) (float) | |
| ygyro : Angular speed around Y axis (rad / sec) (float) | |
| zgyro : Angular speed around Z axis (rad / sec) (float) | |
| xmag : X Magnetic field (Gauss) (float) | |
| ymag : Y Magnetic field (Gauss) (float) | |
| zmag : Z Magnetic field (Gauss) (float) | |
| abs_pressure : Absolute pressure in millibar (float) | |
| diff_pressure : Differential pressure in millibar (float) | |
| pressure_alt : Altitude calculated from pressure (float) | |
| temperature : Temperature in degrees celsius (float) | |
| fields_updated : Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature (uint16_t) | |
| ''' | |
| msg = MAVLink_highres_imu_message(time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag, abs_pressure, diff_pressure, pressure_alt, temperature, fields_updated) | |
| msg.pack(self) | |
| return msg | |
| def highres_imu_send(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag, abs_pressure, diff_pressure, pressure_alt, temperature, fields_updated): | |
| ''' | |
| The IMU readings in SI units in NED body frame | |
| time_usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) | |
| xacc : X acceleration (m/s^2) (float) | |
| yacc : Y acceleration (m/s^2) (float) | |
| zacc : Z acceleration (m/s^2) (float) | |
| xgyro : Angular speed around X axis (rad / sec) (float) | |
| ygyro : Angular speed around Y axis (rad / sec) (float) | |
| zgyro : Angular speed around Z axis (rad / sec) (float) | |
| xmag : X Magnetic field (Gauss) (float) | |
| ymag : Y Magnetic field (Gauss) (float) | |
| zmag : Z Magnetic field (Gauss) (float) | |
| abs_pressure : Absolute pressure in millibar (float) | |
| diff_pressure : Differential pressure in millibar (float) | |
| pressure_alt : Altitude calculated from pressure (float) | |
| temperature : Temperature in degrees celsius (float) | |
| fields_updated : Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature (uint16_t) | |
| ''' | |
| return self.send(self.highres_imu_encode(time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag, abs_pressure, diff_pressure, pressure_alt, temperature, fields_updated)) | |
| def omnidirectional_flow_encode(self, time_usec, sensor_id, left, right, quality, front_distance_m): | |
| ''' | |
| Optical flow from an omnidirectional flow sensor (e.g. PX4FLOW with | |
| wide angle lens) | |
| time_usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) | |
| sensor_id : Sensor ID (uint8_t) | |
| left : Flow in deci pixels (1 = 0.1 pixel) on left hemisphere (int16_t) | |
| right : Flow in deci pixels (1 = 0.1 pixel) on right hemisphere (int16_t) | |
| quality : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t) | |
| front_distance_m : Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance (float) | |
| ''' | |
| msg = MAVLink_omnidirectional_flow_message(time_usec, sensor_id, left, right, quality, front_distance_m) | |
| msg.pack(self) | |
| return msg | |
| def omnidirectional_flow_send(self, time_usec, sensor_id, left, right, quality, front_distance_m): | |
| ''' | |
| Optical flow from an omnidirectional flow sensor (e.g. PX4FLOW with | |
| wide angle lens) | |
| time_usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) | |
| sensor_id : Sensor ID (uint8_t) | |
| left : Flow in deci pixels (1 = 0.1 pixel) on left hemisphere (int16_t) | |
| right : Flow in deci pixels (1 = 0.1 pixel) on right hemisphere (int16_t) | |
| quality : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t) | |
| front_distance_m : Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance (float) | |
| ''' | |
| return self.send(self.omnidirectional_flow_encode(time_usec, sensor_id, left, right, quality, front_distance_m)) | |
| def file_transfer_start_encode(self, transfer_uid, dest_path, direction, file_size, flags): | |
| ''' | |
| Begin file transfer | |
| transfer_uid : Unique transfer ID (uint64_t) | |
| dest_path : Destination path (char) | |
| direction : Transfer direction: 0: from requester, 1: to requester (uint8_t) | |
| file_size : File size in bytes (uint32_t) | |
| flags : RESERVED (uint8_t) | |
| ''' | |
| msg = MAVLink_file_transfer_start_message(transfer_uid, dest_path, direction, file_size, flags) | |
| msg.pack(self) | |
| return msg | |
| def file_transfer_start_send(self, transfer_uid, dest_path, direction, file_size, flags): | |
| ''' | |
| Begin file transfer | |
| transfer_uid : Unique transfer ID (uint64_t) | |
| dest_path : Destination path (char) | |
| direction : Transfer direction: 0: from requester, 1: to requester (uint8_t) | |
| file_size : File size in bytes (uint32_t) | |
| flags : RESERVED (uint8_t) | |
| ''' | |
| return self.send(self.file_transfer_start_encode(transfer_uid, dest_path, direction, file_size, flags)) | |
| def file_transfer_dir_list_encode(self, transfer_uid, dir_path, flags): | |
| ''' | |
| Get directory listing | |
| transfer_uid : Unique transfer ID (uint64_t) | |
| dir_path : Directory path to list (char) | |
| flags : RESERVED (uint8_t) | |
| ''' | |
| msg = MAVLink_file_transfer_dir_list_message(transfer_uid, dir_path, flags) | |
| msg.pack(self) | |
| return msg | |
| def file_transfer_dir_list_send(self, transfer_uid, dir_path, flags): | |
| ''' | |
| Get directory listing | |
| transfer_uid : Unique transfer ID (uint64_t) | |
| dir_path : Directory path to list (char) | |
| flags : RESERVED (uint8_t) | |
| ''' | |
| return self.send(self.file_transfer_dir_list_encode(transfer_uid, dir_path, flags)) | |
| def file_transfer_res_encode(self, transfer_uid, result): | |
| ''' | |
| File transfer result | |
| transfer_uid : Unique transfer ID (uint64_t) | |
| result : 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device (uint8_t) | |
| ''' | |
| msg = MAVLink_file_transfer_res_message(transfer_uid, result) | |
| msg.pack(self) | |
| return msg | |
| def file_transfer_res_send(self, transfer_uid, result): | |
| ''' | |
| File transfer result | |
| transfer_uid : Unique transfer ID (uint64_t) | |
| result : 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device (uint8_t) | |
| ''' | |
| return self.send(self.file_transfer_res_encode(transfer_uid, result)) | |
| def battery_status_encode(self, accu_id, voltage_cell_1, voltage_cell_2, voltage_cell_3, voltage_cell_4, voltage_cell_5, voltage_cell_6, current_battery, battery_remaining): | |
| ''' | |
| Transmitte battery informations for a accu pack. | |
| accu_id : Accupack ID (uint8_t) | |
| voltage_cell_1 : Battery voltage of cell 1, in millivolts (1 = 1 millivolt) (uint16_t) | |
| voltage_cell_2 : Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) | |
| voltage_cell_3 : Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) | |
| voltage_cell_4 : Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) | |
| voltage_cell_5 : Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) | |
| voltage_cell_6 : Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) | |
| current_battery : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t) | |
| battery_remaining : Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery (int8_t) | |
| ''' | |
| msg = MAVLink_battery_status_message(accu_id, voltage_cell_1, voltage_cell_2, voltage_cell_3, voltage_cell_4, voltage_cell_5, voltage_cell_6, current_battery, battery_remaining) | |
| msg.pack(self) | |
| return msg | |
| def battery_status_send(self, accu_id, voltage_cell_1, voltage_cell_2, voltage_cell_3, voltage_cell_4, voltage_cell_5, voltage_cell_6, current_battery, battery_remaining): | |
| ''' | |
| Transmitte battery informations for a accu pack. | |
| accu_id : Accupack ID (uint8_t) | |
| voltage_cell_1 : Battery voltage of cell 1, in millivolts (1 = 1 millivolt) (uint16_t) | |
| voltage_cell_2 : Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) | |
| voltage_cell_3 : Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) | |
| voltage_cell_4 : Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) | |
| voltage_cell_5 : Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) | |
| voltage_cell_6 : Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) | |
| current_battery : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t) | |
| battery_remaining : Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery (int8_t) | |
| ''' | |
| return self.send(self.battery_status_encode(accu_id, voltage_cell_1, voltage_cell_2, voltage_cell_3, voltage_cell_4, voltage_cell_5, voltage_cell_6, current_battery, battery_remaining)) | |
| def setpoint_8dof_encode(self, target_system, val1, val2, val3, val4, val5, val6, val7, val8): | |
| ''' | |
| Set the 8 DOF setpoint for a controller. | |
| target_system : System ID (uint8_t) | |
| val1 : Value 1 (float) | |
| val2 : Value 2 (float) | |
| val3 : Value 3 (float) | |
| val4 : Value 4 (float) | |
| val5 : Value 5 (float) | |
| val6 : Value 6 (float) | |
| val7 : Value 7 (float) | |
| val8 : Value 8 (float) | |
| ''' | |
| msg = MAVLink_setpoint_8dof_message(target_system, val1, val2, val3, val4, val5, val6, val7, val8) | |
| msg.pack(self) | |
| return msg | |
| def setpoint_8dof_send(self, target_system, val1, val2, val3, val4, val5, val6, val7, val8): | |
| ''' | |
| Set the 8 DOF setpoint for a controller. | |
| target_system : System ID (uint8_t) | |
| val1 : Value 1 (float) | |
| val2 : Value 2 (float) | |
| val3 : Value 3 (float) | |
| val4 : Value 4 (float) | |
| val5 : Value 5 (float) | |
| val6 : Value 6 (float) | |
| val7 : Value 7 (float) | |
| val8 : Value 8 (float) | |
| ''' | |
| return self.send(self.setpoint_8dof_encode(target_system, val1, val2, val3, val4, val5, val6, val7, val8)) | |
| def setpoint_6dof_encode(self, target_system, trans_x, trans_y, trans_z, rot_x, rot_y, rot_z): | |
| ''' | |
| Set the 6 DOF setpoint for a attitude and position controller. | |
| target_system : System ID (uint8_t) | |
| trans_x : Translational Component in x (float) | |
| trans_y : Translational Component in y (float) | |
| trans_z : Translational Component in z (float) | |
| rot_x : Rotational Component in x (float) | |
| rot_y : Rotational Component in y (float) | |
| rot_z : Rotational Component in z (float) | |
| ''' | |
| msg = MAVLink_setpoint_6dof_message(target_system, trans_x, trans_y, trans_z, rot_x, rot_y, rot_z) | |
| msg.pack(self) | |
| return msg | |
| def setpoint_6dof_send(self, target_system, trans_x, trans_y, trans_z, rot_x, rot_y, rot_z): | |
| ''' | |
| Set the 6 DOF setpoint for a attitude and position controller. | |
| target_system : System ID (uint8_t) | |
| trans_x : Translational Component in x (float) | |
| trans_y : Translational Component in y (float) | |
| trans_z : Translational Component in z (float) | |
| rot_x : Rotational Component in x (float) | |
| rot_y : Rotational Component in y (float) | |
| rot_z : Rotational Component in z (float) | |
| ''' | |
| return self.send(self.setpoint_6dof_encode(target_system, trans_x, trans_y, trans_z, rot_x, rot_y, rot_z)) | |
| def memory_vect_encode(self, address, ver, type, value): | |
| ''' | |
| Send raw controller memory. The use of this message is discouraged for | |
| normal packets, but a quite efficient way for testing | |
| new messages and getting experimental debug output. | |
| address : Starting address of the debug variables (uint16_t) | |
| ver : Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below (uint8_t) | |
| type : Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14 (uint8_t) | |
| value : Memory contents at specified address (int8_t) | |
| ''' | |
| msg = MAVLink_memory_vect_message(address, ver, type, value) | |
| msg.pack(self) | |
| return msg | |
| def memory_vect_send(self, address, ver, type, value): | |
| ''' | |
| Send raw controller memory. The use of this message is discouraged for | |
| normal packets, but a quite efficient way for testing | |
| new messages and getting experimental debug output. | |
| address : Starting address of the debug variables (uint16_t) | |
| ver : Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below (uint8_t) | |
| type : Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14 (uint8_t) | |
| value : Memory contents at specified address (int8_t) | |
| ''' | |
| return self.send(self.memory_vect_encode(address, ver, type, value)) | |
| def debug_vect_encode(self, name, time_usec, x, y, z): | |
| ''' | |
| name : Name (char) | |
| time_usec : Timestamp (uint64_t) | |
| x : x (float) | |
| y : y (float) | |
| z : z (float) | |
| ''' | |
| msg = MAVLink_debug_vect_message(name, time_usec, x, y, z) | |
| msg.pack(self) | |
| return msg | |
| def debug_vect_send(self, name, time_usec, x, y, z): | |
| ''' | |
| name : Name (char) | |
| time_usec : Timestamp (uint64_t) | |
| x : x (float) | |
| y : y (float) | |
| z : z (float) | |
| ''' | |
| return self.send(self.debug_vect_encode(name, time_usec, x, y, z)) | |
| def named_value_float_encode(self, time_boot_ms, name, value): | |
| ''' | |
| Send a key-value pair as float. The use of this message is discouraged | |
| for normal packets, but a quite efficient way for | |
| testing new messages and getting experimental debug | |
| output. | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| name : Name of the debug variable (char) | |
| value : Floating point value (float) | |
| ''' | |
| msg = MAVLink_named_value_float_message(time_boot_ms, name, value) | |
| msg.pack(self) | |
| return msg | |
| def named_value_float_send(self, time_boot_ms, name, value): | |
| ''' | |
| Send a key-value pair as float. The use of this message is discouraged | |
| for normal packets, but a quite efficient way for | |
| testing new messages and getting experimental debug | |
| output. | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| name : Name of the debug variable (char) | |
| value : Floating point value (float) | |
| ''' | |
| return self.send(self.named_value_float_encode(time_boot_ms, name, value)) | |
| def named_value_int_encode(self, time_boot_ms, name, value): | |
| ''' | |
| Send a key-value pair as integer. The use of this message is | |
| discouraged for normal packets, but a quite efficient | |
| way for testing new messages and getting experimental | |
| debug output. | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| name : Name of the debug variable (char) | |
| value : Signed integer value (int32_t) | |
| ''' | |
| msg = MAVLink_named_value_int_message(time_boot_ms, name, value) | |
| msg.pack(self) | |
| return msg | |
| def named_value_int_send(self, time_boot_ms, name, value): | |
| ''' | |
| Send a key-value pair as integer. The use of this message is | |
| discouraged for normal packets, but a quite efficient | |
| way for testing new messages and getting experimental | |
| debug output. | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| name : Name of the debug variable (char) | |
| value : Signed integer value (int32_t) | |
| ''' | |
| return self.send(self.named_value_int_encode(time_boot_ms, name, value)) | |
| def statustext_encode(self, severity, text): | |
| ''' | |
| Status text message. These messages are printed in yellow in the COMM | |
| console of QGroundControl. WARNING: They consume quite | |
| some bandwidth, so use only for important status and | |
| error messages. If implemented wisely, these messages | |
| are buffered on the MCU and sent only at a limited | |
| rate (e.g. 10 Hz). | |
| severity : Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY. (uint8_t) | |
| text : Status text message, without null termination character (char) | |
| ''' | |
| msg = MAVLink_statustext_message(severity, text) | |
| msg.pack(self) | |
| return msg | |
| def statustext_send(self, severity, text): | |
| ''' | |
| Status text message. These messages are printed in yellow in the COMM | |
| console of QGroundControl. WARNING: They consume quite | |
| some bandwidth, so use only for important status and | |
| error messages. If implemented wisely, these messages | |
| are buffered on the MCU and sent only at a limited | |
| rate (e.g. 10 Hz). | |
| severity : Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY. (uint8_t) | |
| text : Status text message, without null termination character (char) | |
| ''' | |
| return self.send(self.statustext_encode(severity, text)) | |
| def debug_encode(self, time_boot_ms, ind, value): | |
| ''' | |
| Send a debug value. The index is used to discriminate between values. | |
| These values show up in the plot of QGroundControl as | |
| DEBUG N. | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| ind : index of debug variable (uint8_t) | |
| value : DEBUG value (float) | |
| ''' | |
| msg = MAVLink_debug_message(time_boot_ms, ind, value) | |
| msg.pack(self) | |
| return msg | |
| def debug_send(self, time_boot_ms, ind, value): | |
| ''' | |
| Send a debug value. The index is used to discriminate between values. | |
| These values show up in the plot of QGroundControl as | |
| DEBUG N. | |
| time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) | |
| ind : index of debug variable (uint8_t) | |
| value : DEBUG value (float) | |
| ''' | |
| return self.send(self.debug_encode(time_boot_ms, ind, value)) | |
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