388 lines
27 KiB
XML
388 lines
27 KiB
XML
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<?xml version="1.0"?>
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<!--
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Contact:
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- github user name: @olliw42 (to ping)
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- send a PM to user OlliW at https://www.rcgroups.com (most quick)
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- raise an issue in the https://github.com/olliw42/storm32bgc github repository
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Range of IDs:
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messages: 60000 - 60049
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commands: 60000 - 60049
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Documentation:
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STORM32 and QSHOT additions
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with mLRS additions merged
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29. Feb. 2024
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All messages are technically WIP, but some are quite stable now.
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Quite stable means that it is in practical use, but may see extension.
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A more detailed description of the concept underlying the STORM32 and QSHOT messages can be found here:
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http://www.olliw.eu/2020/mavlink-gimbal-protocol-v2/
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-->
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<mavlink>
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<include>ardupilotmega.xml</include>
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<version>1</version>
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<dialect>1</dialect>
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<enums>
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<!-- #############################
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STORM32 enums
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############################# -->
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<!-- ***************************
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STORM32 tunnel enum, this is merely a redefinition for convennience
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*************************** -->
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<enum name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE">
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<!-- Stable -->
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<entry value="200" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_IN">
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<description>Registered for STorM32 gimbal controller. For communication with gimbal or camera.</description>
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</entry>
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<entry value="201" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_OUT">
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<description>Registered for STorM32 gimbal controller. For communication with gimbal or camera.</description>
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</entry>
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<entry value="202" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_IN">
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<description>Registered for STorM32 gimbal controller. For communication with gimbal.</description>
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</entry>
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<entry value="203" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_OUT">
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<description>Registered for STorM32 gimbal controller. For communication with gimbal.</description>
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</entry>
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<entry value="204" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_IN">
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<description>Registered for STorM32 gimbal controller. For communication with camera.</description>
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</entry>
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<entry value="205" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUT">
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<description>Registered for STorM32 gimbal controller. For communication with camera.</description>
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</entry>
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</enum>
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<!-- ***************************
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STORM32 gimbal prearm check flags
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COMPONENT_PREARM_STATUS deprecated 7.Dez.2022, the PREARM_FLAGS enums are kept however for convenience
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*************************** -->
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<enum name="MAV_STORM32_GIMBAL_PREARM_FLAGS" bitmask="true">
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<!-- Stable -->
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<description>STorM32 gimbal prearm check flags.</description>
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<entry value="1" name="MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMAL">
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<description>STorM32 gimbal is in normal state.</description>
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</entry>
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<entry value="2" name="MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKING">
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<description>The IMUs are healthy and working normally.</description>
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</entry>
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<entry value="4" name="MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKING">
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<description>The motors are active and working normally.</description>
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</entry>
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<entry value="8" name="MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKING">
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<description>The encoders are healthy and working normally.</description>
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</entry>
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<entry value="16" name="MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OK">
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<description>A battery voltage is applied and is in range.</description>
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</entry>
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<entry value="32" name="MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVING">
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<description>Virtual input channels are receiving data.</description>
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</entry>
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<entry value="64" name="MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVING">
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<description>Mavlink messages are being received.</description>
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</entry>
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<entry value="128" name="MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_QFIX">
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<description>The STorM32Link data indicates QFix.</description>
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</entry>
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<entry value="256" name="MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_WORKING">
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<description>The STorM32Link is working.</description>
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</entry>
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<entry value="512" name="MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTED">
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<description>The camera has been found and is connected.</description>
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</entry>
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<entry value="1024" name="MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOW">
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<description>The signal on the AUX0 input pin is low.</description>
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</entry>
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<entry value="2048" name="MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOW">
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<description>The signal on the AUX1 input pin is low.</description>
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</entry>
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<entry value="4096" name="MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKING">
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<description>The NTLogger is working normally.</description>
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</entry>
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</enum>
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<enum name="MAV_STORM32_CAMERA_PREARM_FLAGS" bitmask="true">
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<!-- Quite stable -->
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<description>STorM32 camera prearm check flags.</description>
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<entry value="1" name="MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTED">
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<description>The camera has been found and is connected.</description>
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</entry>
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</enum>
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<!-- ***************************
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STORM32 gimbal device enums
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deprecated 21.Nov.2022, replaced by gimbal protocol v2 flags
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removed to force migration
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*************************** -->
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<!-- ***************************
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STORM32 gimbal manager enums
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*************************** -->
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<enum name="MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS" bitmask="true">
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<!-- WIP -->
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<description>Gimbal manager capability flags.</description>
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<entry value="1" name="MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_HAS_PROFILES">
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<description>The gimbal manager supports several profiles.</description>
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</entry>
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</enum>
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<enum name="MAV_STORM32_GIMBAL_MANAGER_FLAGS" bitmask="true">
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<!-- Stable, may grow however -->
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<description>Flags for gimbal manager operation. Used for setting and reporting, unless specified otherwise. If a setting has been accepted by the gimbal manager is reported in the STORM32_GIMBAL_MANAGER_STATUS message.</description>
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<entry value="0" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_NONE">
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<description>0 = ignore.</description>
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</entry>
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<entry value="1" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_RC_ACTIVE">
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<description>Request to set RC input to active, or report RC input is active. Implies RC mixed. RC exclusive is achieved by setting all clients to inactive.</description>
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</entry>
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<entry value="2" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_ONBOARD_ACTIVE">
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<description>Request to set onboard/companion computer client to active, or report this client is active.</description>
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</entry>
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<entry value="4" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_AUTOPILOT_ACTIVE">
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<description>Request to set autopliot client to active, or report this client is active.</description>
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</entry>
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<entry value="8" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS_ACTIVE">
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<description>Request to set GCS client to active, or report this client is active.</description>
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</entry>
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<entry value="16" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA_ACTIVE">
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<description>Request to set camera client to active, or report this client is active.</description>
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</entry>
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<entry value="32" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS2_ACTIVE">
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<description>Request to set GCS2 client to active, or report this client is active.</description>
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</entry>
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<entry value="64" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA2_ACTIVE">
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<description>Request to set camera2 client to active, or report this client is active.</description>
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</entry>
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<entry value="128" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM_ACTIVE">
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<description>Request to set custom client to active, or report this client is active.</description>
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</entry>
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<entry value="256" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM2_ACTIVE">
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<description>Request to set custom2 client to active, or report this client is active.</description>
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</entry>
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<entry value="512" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_SUPERVISON">
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<description>Request supervision. This flag is only for setting, it is not reported.</description>
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</entry>
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<entry value="1024" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_RELEASE">
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<description>Release supervision. This flag is only for setting, it is not reported.</description>
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</entry>
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</enum>
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<enum name="MAV_STORM32_GIMBAL_MANAGER_CLIENT">
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<!-- Stable, may grow however -->
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<description>Gimbal manager client ID. In a prioritizing profile, the priorities are determined by the implementation; they could e.g. be custom1 > onboard > GCS > autopilot/camera > GCS2 > custom2.</description>
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<entry value="0" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_NONE">
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<description>For convenience.</description>
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</entry>
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<entry value="1" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_ONBOARD">
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<description>This is the onboard/companion computer client.</description>
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</entry>
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<entry value="2" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_AUTOPILOT">
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<description>This is the autopilot client.</description>
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</entry>
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<entry value="3" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS">
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<description>This is the GCS client.</description>
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</entry>
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<entry value="4" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA">
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<description>This is the camera client.</description>
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</entry>
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<entry value="5" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS2">
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<description>This is the GCS2 client.</description>
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</entry>
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<entry value="6" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA2">
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<description>This is the camera2 client.</description>
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</entry>
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<entry value="7" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM">
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<description>This is the custom client.</description>
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</entry>
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<entry value="8" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM2">
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<description>This is the custom2 client.</description>
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</entry>
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</enum>
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<enum name="MAV_STORM32_GIMBAL_MANAGER_PROFILE">
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<!-- WIP -->
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<description>Gimbal manager profiles. Only standard profiles are defined. Any implementation can define its own profile(s) in addition, and should use enum values > 16.</description>
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<entry value="0" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_DEFAULT">
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<description>Default profile. Implementation specific.</description>
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</entry>
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<entry value="1" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_CUSTOM">
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<description>Not supported/deprecated.</description>
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</entry>
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<entry value="2" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_COOPERATIVE">
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<description>Profile with cooperative behavior.</description>
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</entry>
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<entry value="3" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_EXCLUSIVE">
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<description>Profile with exclusive behavior.</description>
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</entry>
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<entry value="4" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_COOPERATIVE">
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<description>Profile with priority and cooperative behavior for equal priority.</description>
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</entry>
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<entry value="5" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_EXCLUSIVE">
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<description>Profile with priority and exclusive behavior for equal priority.</description>
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</entry>
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</enum>
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<!-- ***************************
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QSHOT manager mode enums
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*************************** -->
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<enum name="MAV_QSHOT_MODE">
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<!-- Quite stable, may grow however -->
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<description>Enumeration of possible shot modes.</description>
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<entry value="0" name="MAV_QSHOT_MODE_UNDEFINED">
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<description>Undefined shot mode. Can be used to determine if qshots should be used or not.</description>
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</entry>
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<entry value="1" name="MAV_QSHOT_MODE_DEFAULT">
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<description>Start normal gimbal operation. Is usually used to return back from a shot.</description>
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</entry>
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<entry value="2" name="MAV_QSHOT_MODE_GIMBAL_RETRACT">
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<description>Load and keep safe gimbal position and stop stabilization.</description>
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</entry>
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<entry value="3" name="MAV_QSHOT_MODE_GIMBAL_NEUTRAL">
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<description>Load neutral gimbal position and keep it while stabilizing.</description>
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</entry>
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<entry value="4" name="MAV_QSHOT_MODE_GIMBAL_MISSION">
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<description>Start mission with gimbal control.</description>
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</entry>
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<entry value="5" name="MAV_QSHOT_MODE_GIMBAL_RC_CONTROL">
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<description>Start RC gimbal control.</description>
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</entry>
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<entry value="6" name="MAV_QSHOT_MODE_POI_TARGETING">
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<description>Start gimbal tracking the point specified by Lat, Lon, Alt.</description>
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</entry>
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<entry value="7" name="MAV_QSHOT_MODE_SYSID_TARGETING">
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<description>Start gimbal tracking the system with specified system ID.</description>
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</entry>
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<entry value="8" name="MAV_QSHOT_MODE_CABLECAM_2POINT">
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<description>Start 2-point cable cam quick shot.</description>
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</entry>
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<entry value="9" name="MAV_QSHOT_MODE_HOME_TARGETING">
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<description>Start gimbal tracking the home location.</description>
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</entry>
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</enum>
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<!-- ***************************
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STORM32 and QSHOT cmds
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*************************** -->
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<enum name="MAV_CMD">
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<!-- leave room for 60001 gimbal manager configure -->
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<entry value="60002" name="MAV_CMD_STORM32_DO_GIMBAL_MANAGER_CONTROL_PITCHYAW" hasLocation="false" isDestination="false">
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<!-- Stable -->
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<description>Command to a gimbal manager to control the gimbal tilt and pan angles. It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. A gimbal device is never to react to this command.</description>
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<param index="1" label="Pitch angle" units="deg" minValue="-180" maxValue="180">Pitch/tilt angle (positive: tilt up). NaN to be ignored.</param>
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<param index="2" label="Yaw angle" units="deg" minValue="-180" maxValue="180">Yaw/pan angle (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</param>
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<param index="3" label="Pitch rate" units="deg/s">Pitch/tilt rate (positive: tilt up). NaN to be ignored.</param>
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<param index="4" label="Yaw rate" units="deg/s">Yaw/pan rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</param>
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<param index="5" label="Gimbal device flags" enum="GIMBAL_DEVICE_FLAGS">Gimbal device flags to be applied.</param>
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<param index="6" label="Gimbal manager flags" enum="MAV_STORM32_GIMBAL_MANAGER_FLAGS">Gimbal manager flags to be applied.</param>
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<param index="7" label="Gimbal ID and client">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals. The client is copied into bits 8-15.</param>
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</entry>
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<entry value="60010" name="MAV_CMD_STORM32_DO_GIMBAL_MANAGER_SETUP" hasLocation="false" isDestination="false">
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<wip/>
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<!-- WIP -->
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<description>Command to configure a gimbal manager. A gimbal device is never to react to this command. The selected profile is reported in the STORM32_GIMBAL_MANAGER_STATUS message.</description>
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<param index="1" label="Profile" enum="MAV_STORM32_GIMBAL_MANAGER_PROFILE">Gimbal manager profile (0 = default).</param>
|
||
|
|
<param index="7" label="Gimbal ID">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.</param>
|
||
|
|
</entry>
|
||
|
|
<entry value="60020" name="MAV_CMD_QSHOT_DO_CONFIGURE" hasLocation="false" isDestination="false">
|
||
|
|
<wip/>
|
||
|
|
<!-- WIP -->
|
||
|
|
<description>Command to set the shot manager mode.</description>
|
||
|
|
<param index="1" label="Mode" enum="MAV_QSHOT_MODE">Set shot mode.</param>
|
||
|
|
<param index="2" label="Shot state or command">Set shot state or command. The allowed values are specific to the selected shot mode.</param>
|
||
|
|
</entry>
|
||
|
|
</enum>
|
||
|
|
</enums>
|
||
|
|
<messages>
|
||
|
|
<!-- #############################
|
||
|
|
STORM32 messages
|
||
|
|
############################# -->
|
||
|
|
<!-- ***************************
|
||
|
|
STORM32 gimbal device messages
|
||
|
|
deprecated 21.Nov.2022, replaced by gimbal protocol v2 gimbal device messages
|
||
|
|
removed to force migration
|
||
|
|
*************************** -->
|
||
|
|
<!-- ***************************
|
||
|
|
STORM32 gimbal manager messages
|
||
|
|
revised 27.Nov.2022, to account for usage of gimbal protocol v2 gimbal device messages/commands/flags
|
||
|
|
STORM32_GIMBAL_MANAGER_PROFILE removed, MAV_CMD_STORM32_DO_GIMBAL_MANAGER_SETUP gets the job done
|
||
|
|
*************************** -->
|
||
|
|
<message id="60010" name="STORM32_GIMBAL_MANAGER_INFORMATION">
|
||
|
|
<!-- Stable, may grow however -->
|
||
|
|
<description>Information about a gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE. It mirrors some fields of the GIMBAL_DEVICE_INFORMATION message, but not all. If the additional information is desired, also GIMBAL_DEVICE_INFORMATION should be requested.</description>
|
||
|
|
<field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.</field>
|
||
|
|
<field type="uint32_t" name="device_cap_flags" enum="GIMBAL_DEVICE_CAP_FLAGS" display="bitmask">Gimbal device capability flags. Same flags as reported by GIMBAL_DEVICE_INFORMATION. The flag is only 16 bit wide, but stored in 32 bit, for backwards compatibility (high word is zero).</field>
|
||
|
|
<field type="uint32_t" name="manager_cap_flags" enum="MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS" display="bitmask">Gimbal manager capability flags.</field>
|
||
|
|
<field type="float" name="roll_min" units="rad" invalid="NaN">Hardware minimum roll angle (positive: roll to the right). NaN if unknown.</field>
|
||
|
|
<field type="float" name="roll_max" units="rad" invalid="NaN">Hardware maximum roll angle (positive: roll to the right). NaN if unknown.</field>
|
||
|
|
<field type="float" name="pitch_min" units="rad" invalid="NaN">Hardware minimum pitch/tilt angle (positive: tilt up). NaN if unknown.</field>
|
||
|
|
<field type="float" name="pitch_max" units="rad" invalid="NaN">Hardware maximum pitch/tilt angle (positive: tilt up). NaN if unknown.</field>
|
||
|
|
<field type="float" name="yaw_min" units="rad" invalid="NaN">Hardware minimum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown.</field>
|
||
|
|
<field type="float" name="yaw_max" units="rad" invalid="NaN">Hardware maximum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown.</field>
|
||
|
|
</message>
|
||
|
|
<message id="60011" name="STORM32_GIMBAL_MANAGER_STATUS">
|
||
|
|
<!-- Stable, may grow however -->
|
||
|
|
<description>Message reporting the current status of a gimbal manager. This message should be broadcast at a low regular rate (e.g. 1 Hz, may be increase momentarily to e.g. 5 Hz for a period of 1 sec after a change).</description>
|
||
|
|
<field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.</field>
|
||
|
|
<field type="uint8_t" name="supervisor" enum="MAV_STORM32_GIMBAL_MANAGER_CLIENT">Client who is currently supervisor (0 = none).</field>
|
||
|
|
<field type="uint16_t" name="device_flags" enum="GIMBAL_DEVICE_FLAGS">Gimbal device flags currently applied. Same flags as reported by GIMBAL_DEVICE_ATTITUDE_STATUS.</field>
|
||
|
|
<field type="uint16_t" name="manager_flags" enum="MAV_STORM32_GIMBAL_MANAGER_FLAGS">Gimbal manager flags currently applied.</field>
|
||
|
|
<field type="uint8_t" name="profile" enum="MAV_STORM32_GIMBAL_MANAGER_PROFILE">Profile currently applied (0 = default).</field>
|
||
|
|
</message>
|
||
|
|
<message id="60012" name="STORM32_GIMBAL_MANAGER_CONTROL">
|
||
|
|
<!-- Stable -->
|
||
|
|
<description>Message to a gimbal manager to control the gimbal attitude. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message.</description>
|
||
|
|
<field type="uint8_t" name="target_system">System ID</field>
|
||
|
|
<field type="uint8_t" name="target_component">Component ID</field>
|
||
|
|
<field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.</field>
|
||
|
|
<field type="uint8_t" name="client" enum="MAV_STORM32_GIMBAL_MANAGER_CLIENT">Client which is contacting the gimbal manager (must be set).</field>
|
||
|
|
<field type="uint16_t" name="device_flags" enum="GIMBAL_DEVICE_FLAGS" invalid="UINT16_MAX">Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in GIMBAL_DEVICE_SET_ATTITUDE.</field>
|
||
|
|
<field type="uint16_t" name="manager_flags" enum="MAV_STORM32_GIMBAL_MANAGER_FLAGS" invalid="0">Gimbal manager flags to be applied (0 to be ignored).</field>
|
||
|
|
<field type="float[4]" name="q" invalid="[NaN:]">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). Set first element to NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</field>
|
||
|
|
<field type="float" name="angular_velocity_x" units="rad/s" invalid="NaN">X component of angular velocity (positive: roll to the right). NaN to be ignored.</field>
|
||
|
|
<field type="float" name="angular_velocity_y" units="rad/s" invalid="NaN">Y component of angular velocity (positive: tilt up). NaN to be ignored.</field>
|
||
|
|
<field type="float" name="angular_velocity_z" units="rad/s" invalid="NaN">Z component of angular velocity (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</field>
|
||
|
|
</message>
|
||
|
|
<message id="60013" name="STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW">
|
||
|
|
<!-- Stable -->
|
||
|
|
<description>Message to a gimbal manager to control the gimbal tilt and pan angles. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message.</description>
|
||
|
|
<field type="uint8_t" name="target_system">System ID</field>
|
||
|
|
<field type="uint8_t" name="target_component">Component ID</field>
|
||
|
|
<field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.</field>
|
||
|
|
<field type="uint8_t" name="client" enum="MAV_STORM32_GIMBAL_MANAGER_CLIENT">Client which is contacting the gimbal manager (must be set).</field>
|
||
|
|
<field type="uint16_t" name="device_flags" enum="GIMBAL_DEVICE_FLAGS" invalid="UINT16_MAX">Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in GIMBAL_DEVICE_SET_ATTITUDE.</field>
|
||
|
|
<field type="uint16_t" name="manager_flags" enum="MAV_STORM32_GIMBAL_MANAGER_FLAGS" invalid="0">Gimbal manager flags to be applied (0 to be ignored).</field>
|
||
|
|
<field type="float" name="pitch" units="rad" invalid="NaN">Pitch/tilt angle (positive: tilt up). NaN to be ignored.</field>
|
||
|
|
<field type="float" name="yaw" units="rad" invalid="NaN">Yaw/pan angle (positive: pan the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</field>
|
||
|
|
<field type="float" name="pitch_rate" units="rad/s" invalid="NaN">Pitch/tilt angular rate (positive: tilt up). NaN to be ignored.</field>
|
||
|
|
<field type="float" name="yaw_rate" units="rad/s" invalid="NaN">Yaw/pan angular rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</field>
|
||
|
|
</message>
|
||
|
|
<message id="60014" name="STORM32_GIMBAL_MANAGER_CORRECT_ROLL">
|
||
|
|
<!-- Quite stable -->
|
||
|
|
<description>Message to a gimbal manager to correct the gimbal roll angle. This message is typically used to manually correct for a tilted horizon in operation. A gimbal device is never to react to this message.</description>
|
||
|
|
<field type="uint8_t" name="target_system">System ID</field>
|
||
|
|
<field type="uint8_t" name="target_component">Component ID</field>
|
||
|
|
<field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.</field>
|
||
|
|
<field type="uint8_t" name="client" enum="MAV_STORM32_GIMBAL_MANAGER_CLIENT">Client which is contacting the gimbal manager (must be set).</field>
|
||
|
|
<field type="float" name="roll" units="rad">Roll angle (positive to roll to the right).</field>
|
||
|
|
</message>
|
||
|
|
<!-- ***************************
|
||
|
|
QSHOT manager messages
|
||
|
|
*************************** -->
|
||
|
|
<message id="60020" name="QSHOT_STATUS">
|
||
|
|
<wip/>
|
||
|
|
<!-- WIP -->
|
||
|
|
<description>Information about the shot operation.</description>
|
||
|
|
<field type="uint16_t" name="mode" enum="MAV_QSHOT_MODE">Current shot mode.</field>
|
||
|
|
<field type="uint16_t" name="shot_state">Current state in the shot. States are specific to the selected shot mode.</field>
|
||
|
|
</message>
|
||
|
|
<!-- ***************************
|
||
|
|
General messages
|
||
|
|
COMPONENT_PREARM_STATUS deprecated 7.Dez.2022, replaced by events micro service, removed to force migration
|
||
|
|
*************************** -->
|
||
|
|
<!-- ********** -->
|
||
|
|
<message id="60040" name="FRSKY_PASSTHROUGH_ARRAY">
|
||
|
|
<description>Frsky SPort passthrough multi packet container.</description>
|
||
|
|
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
|
||
|
|
<field type="uint8_t" name="count">Number of passthrough packets in this message.</field>
|
||
|
|
<field type="uint8_t[240]" name="packet_buf">Passthrough packet buffer. A packet has 6 bytes: uint16_t id + uint32_t data. The array has space for 40 packets.</field>
|
||
|
|
</message>
|
||
|
|
<!-- ********** -->
|
||
|
|
<message id="60041" name="PARAM_VALUE_ARRAY">
|
||
|
|
<description>Parameter multi param value container.</description>
|
||
|
|
<field type="uint16_t" name="param_count">Total number of onboard parameters.</field>
|
||
|
|
<field type="uint16_t" name="param_index_first">Index of the first onboard parameter in this array.</field>
|
||
|
|
<field type="uint8_t" name="param_array_len">Number of onboard parameters in this array.</field>
|
||
|
|
<field type="uint16_t" name="flags">Flags.</field>
|
||
|
|
<field type="uint8_t[248]" name="packet_buf">Parameters buffer. Contains a series of variable length parameter blocks, one per parameter, with format as specifed elsewhere.</field>
|
||
|
|
</message>
|
||
|
|
<!-- ********** -->
|
||
|
|
</messages>
|
||
|
|
</mavlink>
|