67 lines
3.2 KiB
XML
67 lines
3.2 KiB
XML
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<?xml version="1.0"?>
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<mavlink>
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<include>common.xml</include>
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<enums>
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<enum name="UALBERTA_AUTOPILOT_MODE">
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<description>Available autopilot modes for ualberta uav</description>
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<entry value="1" name="MODE_MANUAL_DIRECT">
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<description>Raw input pulse widts sent to output</description>
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</entry>
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<entry value="2" name="MODE_MANUAL_SCALED">
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<description>Inputs are normalized using calibration, the converted back to raw pulse widths for output</description>
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</entry>
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<entry value="3" name="MODE_AUTO_PID_ATT"/>
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<entry value="4" name="MODE_AUTO_PID_VEL"/>
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<entry value="5" name="MODE_AUTO_PID_POS"/>
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</enum>
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<enum name="UALBERTA_NAV_MODE">
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<description>Navigation filter mode</description>
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<entry value="1" name="NAV_AHRS_INIT"/>
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<entry value="2" name="NAV_AHRS">
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<description>AHRS mode</description>
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</entry>
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<entry value="3" name="NAV_INS_GPS_INIT">
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<description>INS/GPS initialization mode</description>
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</entry>
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<entry value="4" name="NAV_INS_GPS">
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<description>INS/GPS mode</description>
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</entry>
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</enum>
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<enum name="UALBERTA_PILOT_MODE">
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<description>Mode currently commanded by pilot</description>
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<entry value="1" name="PILOT_MANUAL"/>
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<entry value="2" name="PILOT_AUTO"/>
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<entry value="3" name="PILOT_ROTO">
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<description> Rotomotion mode </description>
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</entry>
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</enum>
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</enums>
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<messages>
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<message id="220" name="NAV_FILTER_BIAS">
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<description>Accelerometer and Gyro biases from the navigation filter</description>
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<field type="uint64_t" name="usec">Timestamp (microseconds)</field>
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<field type="float" name="accel_0">b_f[0]</field>
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<field type="float" name="accel_1">b_f[1]</field>
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<field type="float" name="accel_2">b_f[2]</field>
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<field type="float" name="gyro_0">b_f[0]</field>
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<field type="float" name="gyro_1">b_f[1]</field>
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<field type="float" name="gyro_2">b_f[2]</field>
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</message>
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<message id="221" name="RADIO_CALIBRATION">
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<description>Complete set of calibration parameters for the radio</description>
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<field type="uint16_t[3]" name="aileron">Aileron setpoints: left, center, right</field>
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<field type="uint16_t[3]" name="elevator">Elevator setpoints: nose down, center, nose up</field>
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<field type="uint16_t[3]" name="rudder">Rudder setpoints: nose left, center, nose right</field>
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<field type="uint16_t[2]" name="gyro">Tail gyro mode/gain setpoints: heading hold, rate mode</field>
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<field type="uint16_t[5]" name="pitch">Pitch curve setpoints (every 25%)</field>
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<field type="uint16_t[5]" name="throttle">Throttle curve setpoints (every 25%)</field>
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</message>
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<message id="222" name="UALBERTA_SYS_STATUS">
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<description>System status specific to ualberta uav</description>
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<field type="uint8_t" name="mode">System mode, see UALBERTA_AUTOPILOT_MODE ENUM</field>
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<field type="uint8_t" name="nav_mode">Navigation mode, see UALBERTA_NAV_MODE ENUM</field>
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<field type="uint8_t" name="pilot">Pilot mode, see UALBERTA_PILOT_MODE</field>
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</message>
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</messages>
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</mavlink>
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