73 lines
1.8 KiB
Protocol Buffer
73 lines
1.8 KiB
Protocol Buffer
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/* Protobuf definitions for defining a mavlink 1.0 mission. */
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package mavlink;
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enum CoordFrameType {
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FRAME_GLOBAL = 0;
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FRAME_LOCAL_NED = 1;
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FRAME_MISSION = 2;
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FRAME_GLOBAL_RELATIVE_ALT = 3;
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FRAME_LOCAL_ENU = 4;
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FRAME_ENUM_END = 5;
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}
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enum CommandType {
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CMD_NAV_WAYPOINT = 16;
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CMD_NAV_LOITER_UNLIM = 17;
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CMD_NAV_LOITER_TURNS = 18;
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CMD_NAV_LOITER_TIME = 19;
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CMD_NAV_RETURN_TO_LAUNCH = 20;
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CMD_NAV_LAND = 21;
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CMD_NAV_TAKEOFF = 22;
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CMD_NAV_ROI = 80;
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CMD_NAV_PATHPLANNING = 81;
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CMD_NAV_LAST = 95;
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CMD_CONDITION_DELAY = 112;
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CMD_CONDITION_CHANGE_ALT = 113;
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CMD_CONDITION_DISTANCE = 114;
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CMD_CONDITION_YAW = 115;
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CMD_CONDITION_LAST = 159;
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CMD_DO_SET_MODE = 176;
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CMD_DO_JUMP = 177;
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CMD_DO_CHANGE_SPEED = 178;
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CMD_DO_SET_HOME = 179;
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CMD_DO_SET_PARAMETER = 180;
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CMD_DO_SET_RELAY = 181;
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CMD_DO_REPEAT_RELAY = 182;
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CMD_DO_SET_SERVO = 183;
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CMD_DO_REPEAT_SERVO = 184;
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CMD_DO_CONTROL_VIDEO = 200;
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CMD_DO_DIGICAM_CONFIGURE = 202;
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CMD_DO_DIGICAM_CONTROL = 203;
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CMD_DO_MOUNT_CONFIGURE = 204;
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CMD_DO_MOUNT_CONTROL = 205;
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CMD_DO_LAST = 240;
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CMD_PREFLIGHT_CALIBRATION = 241;
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CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242;
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CMD_PREFLIGHT_STORAGE = 245;
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CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246;
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CMD_OVERRIDE_GOTO = 252;
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CMD_MISSION_START = 300;
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CMD_COMPONENT_ARM_DISARM = 400;
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}
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message Waypoint {
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optional int32 seq = 1;
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optional bool current = 2;
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required CommandType command = 3;
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optional CoordFrameType frame = 4;
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optional bool autocontinue = 5;
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optional float param1 = 6;
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optional float param2 = 7;
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optional float param3 = 8;
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optional float param4 = 9;
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optional float x = 10;
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optional float y = 11;
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optional float z = 12;
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}
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message Mission {
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optional Waypoint defaults = 1;
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repeated Waypoint waypoint = 2;
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}
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