Skip to content

Commit

Permalink
ardupilotmega: add gimbal messages
Browse files Browse the repository at this point in the history
  • Loading branch information
@arthurbenemann @tridge
arthurbenemann authored and tridge committed Apr 8, 2015
1 parent 6365256 commit 3cc380c
Showing 1 changed file with 297 additions and 5 deletions.
302 changes: 297 additions & 5 deletions message_definitions/v1.0/ardupilotmega.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,39 @@
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>

<entry name="MAV_CMD_DO_START_MAG_CAL" value="42424">
<description>Initiate a magnetometer calibration</description>
<param index="1">uint8_t bitmask of magnetometers (0 means all)</param>
<param index="2">Automatically retry on failure (0=no retry, 1=retry).</param>
<param index="3">Save without user input (0=require input, 1=autosave).</param>
<param index="4">Delay (seconds)</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>

<entry name="MAV_CMD_DO_ACCEPT_MAG_CAL" value="42425">
<description>Initiate a magnetometer calibration</description>
<param index="1">uint8_t bitmask of magnetometers (0 means all)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>

<entry name="MAV_CMD_DO_CANCEL_MAG_CAL" value="42426">
<description>Cancel a running magnetometer calibration</description>
<param index="1">uint8_t bitmask of magnetometers (0 means all)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
</enum>

<!-- AP_Limits Enums -->
Expand Down Expand Up @@ -114,6 +147,101 @@
<entry name="CLOSEDLOOP" value="3"> <description>Closed loop feedback from camera, we know for sure it has successfully taken a picture</description></entry>
<entry name="OPENLOOP" value="4"> <description>Open loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture</description></entry>
</enum>

<!-- Gimbal payload enumerations -->
<enum name="MAV_MODE_GIMBAL">
<entry name="MAV_MODE_GIMBAL_UNINITIALIZED" value="0">
<description>Gimbal is powered on but has not started initializing yet</description>
</entry>
<entry name="MAV_MODE_GIMBAL_CALIBRATING_PITCH" value="1">
<description>Gimbal is currently running calibration on the pitch axis</description>
</entry>
<entry name="MAV_MODE_GIMBAL_CALIBRATING_ROLL" value="2">
<description>Gimbal is currently running calibration on the roll axis</description>
</entry>
<entry name="MAV_MODE_GIMBAL_CALIBRATING_YAW" value="3">
<description>Gimbal is currently running calibration on the yaw axis</description>
</entry>
<entry name="MAV_MODE_GIMBAL_INITIALIZED" value="4">
<description>Gimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter</description>
</entry>
<entry name="MAV_MODE_GIMBAL_ACTIVE" value="5">
<description>Gimbal is actively stabilizing</description>
</entry>
<entry name="MAV_MODE_GIMBAL_RATE_CMD_TIMEOUT" value="6">
<description>Gimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command</description>
</entry>
</enum>

<enum name="GIMBAL_AXIS">
<entry name="GIMBAL_AXIS_YAW" value="0">
<description>Gimbal yaw axis</description>
</entry>
<entry name="GIMBAL_AXIS_PITCH" value="1">
<description>Gimbal pitch axis</description>
</entry>
<entry name="GIMBAL_AXIS_ROLL" value="2">
<description>Gimbal roll axis</description>
</entry>
</enum>

<enum name="GIMBAL_AXIS_CALIBRATION_STATUS">
<entry name="GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESS" value="0">
<description>Axis calibration is in progress</description>
</entry>
<entry name="GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDED" value="1">
<description>Axis calibration succeeded</description>
</entry>
<entry name="GIMBAL_AXIS_CALIBRATION_STATUS_FAILED" value="2">
<description>Axis calibration failed</description>
</entry>
</enum>

<enum name="FACTORY_TEST">
<entry name="FACTORY_TEST_AXIS_RANGE_LIMITS" value="0">
<description>Tests to make sure each axis can move to its mechanical limits</description>
</entry>
</enum>

<!-- GoPro command result enumeration -->
<enum name="GOPRO_CMD_RESULT">
<entry name="GOPRO_CMD_RESULT_UNKNOWN" value="0">
<description>The result of the command is unknown</description>
</entry>
<entry name="GOPRO_CMD_RESULT_SUCCESSFUL" value="1">
<description>The command was successfully sent, and a response was successfully received</description>
</entry>
<entry name="GOPRO_CMD_RESULT_SEND_CMD_START_TIMEOUT" value="2">
<description>Timed out waiting for the GoPro to acknowledge our request to send a command</description>
</entry>
<entry name="GOPRO_CMD_RESULT_SEND_CMD_COMPLETE_TIMEOUT" value="3">
<description>Timed out waiting for the GoPro to read the command</description>
</entry>
<entry name="GOPRO_CMD_RESULT_GET_RESPONSE_START_TIMEOUT" value="4">
<description>Timed out waiting for the GoPro to begin transmitting a response to the command</description>
</entry>
<entry name="GOPRO_CMD_RESULT_GET_RESPONSE_COMPLETE_TIMEOUT" value="5">
<description>Timed out waiting for the GoPro to finish transmitting a response to the command</description>
</entry>
<entry name="GOPRO_CMD_RESULT_GET_CMD_COMPLETE_TIMEOUT" value="6">
<description>Timed out waiting for the GoPro to finish transmitting its own command</description>
</entry>
<entry name="GOPRO_CMD_RESULT_SEND_RESPONSE_START_TIMEOUT" value="7">
<description>Timed out waiting for the GoPro to start reading a response to its own command</description>
</entry>
<entry name="GOPRO_CMD_RESULT_SEND_RESPONSE_COMPLETE_TIMEOUT" value="8">
<description>Timed out waiting for the GoPro to finish reading a response to its own command</description>
</entry>
<entry name="GOPRO_CMD_RESULT_PREEMPTED" value="9">
<description>Command to the GoPro was preempted by the GoPro sending its own command</description>
</entry>
<entry name="GOPRO_CMD_RECEIVED_DATA_OVERFLOW" value="10">
<description>More data than expected received in response to the command</description>
</entry>
<entry name="GOPRO_CMD_RECEIVED_DATA_UNDERFLOW" value="11">
<description>Less data than expected received in response to the command</description>
</entry>
</enum>

<!-- led control pattern enums (enumeration of specific patterns) -->
<enum name="LED_CONTROL_PATTERN">
Expand All @@ -137,6 +265,15 @@
<entry name="EKF_PRED_POS_HORIZ_ABS" value="512"> <description>set if EKF's predicted horizontal position (absolute) estimate is good</description></entry>
</enum>

<enum name="MAG_CAL_STATUS">
<entry name="MAG_CAL_NOT_STARTED" value="0"></entry>
<entry name="MAG_CAL_WAITING_TO_START" value="1"></entry>
<entry name="MAG_CAL_RUNNING_STEP_ONE" value="2"></entry>
<entry name="MAG_CAL_RUNNING_STEP_TWO" value="3"></entry>
<entry name="MAG_CAL_SUCCESS" value="4"></entry>
<entry name="MAG_CAL_FAILED" value="5"></entry>
</enum>

</enums>

<messages>
Expand Down Expand Up @@ -467,7 +604,7 @@
<message name="CAMERA_FEEDBACK" id="180">
<description>Camera Capture Feedback</description>
<field name="time_usec" type="uint64_t">Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB)</field>
<field name="target_system" type="uint8_t" >System ID</field> <!-- support multiple concurrent vehicles -->
<field name="target_system" type="uint8_t" >System ID</field> <!-- support multiple concurrent vehicles -->
<field name="cam_idx" type="uint8_t" >Camera ID</field> <!-- component ID, to support multiple cameras -->
<field name="img_idx" type="uint16_t">Image index</field> <!-- per camera image index, should be unique+sequential within a mission, preferably non-wrapping -->
<field name="lat" type="int32_t" >Latitude in (deg * 1E7)</field>
Expand Down Expand Up @@ -517,8 +654,37 @@
<field type="uint8_t[24]" name="custom_bytes">Custom Bytes</field>
</message>

<!-- 191 to 192 RESERVED for mag calibration -->

<message name="MAG_CAL_PROGRESS" id="191">
<description>Reports progress of compass calibration.</description>
<field type="uint8_t" name="compass_id">Compass being calibrated</field>
<field type="uint8_t" name="cal_mask">Bitmask of compasses being calibrated</field>
<field type="uint8_t" name="cal_status">Status (see MAG_CAL_STATUS enum)</field>
<field type="uint8_t" name="attempt">Attempt number</field>
<field type="uint8_t" name="completion_pct">Completion percentage</field>
<field type="uint8_t[10]" name="completion_mask">Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid)</field>
<field type="float" name="direction_x">Body frame direction vector for display</field>
<field type="float" name="direction_y">Body frame direction vector for display</field>
<field type="float" name="direction_z">Body frame direction vector for display</field>
</message>

<message name="MAG_CAL_REPORT" id="192">
<description>Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.</description>
<field type="uint8_t" name="compass_id">Compass being calibrated</field>
<field type="uint8_t" name="cal_mask">Bitmask of compasses being calibrated</field>
<field type="uint8_t" name="cal_status">Status (see MAG_CAL_STATUS enum)</field>
<field type="uint8_t" name="autosaved">0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters</field>
<field type="float" name="fitness">RMS milligauss residuals</field>
<field type="float" name="ofs_x">X offset</field>
<field type="float" name="ofs_y">Y offset</field>
<field type="float" name="ofs_z">Z offset</field>
<field type="float" name="diag_x">X diagonal (matrix 11)</field>
<field type="float" name="diag_y">Y diagonal (matrix 22)</field>
<field type="float" name="diag_z">Z diagonal (matrix 33)</field>
<field type="float" name="offdiag_x">X off-diagonal (matrix 12 and 21)</field>
<field type="float" name="offdiag_y">Y off-diagonal (matrix 13 and 31)</field>
<field type="float" name="offdiag_z">Z off-diagonal (matrix 32 and 23)</field>
</message>

<!-- EKF status message from autopilot to GCS. -->
<message name="EKF_STATUS_REPORT" id="193">
<description>EKF Status message including flags and variances</description>
Expand Down Expand Up @@ -555,8 +721,134 @@
<field type="float" name="demanded_rate_z">Demanded angular rate Z (rad/s)</field>
</message>

<!-- 202 to 214 RESERVED for gimbal control -->
<!-- 215 to 218 RESERVED for camera control -->
<message name="GIMBAL_RESET" id="202">
<description>
Causes the gimbal to reset and boot as if it was just powered on
</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
</message>

<message name="GIMBAL_AXIS_CALIBRATION_PROGRESS" id="203">
<description>
Reports progress and success or failure of gimbal axis calibration procedure
</description>
<field name="calibration_axis" type="uint8_t" enum="GIMBAL_AXIS">Which gimbal axis we're reporting calibration progress for</field>
<field name="calibration_progress" type="uint8_t">The current calibration progress for this axis, 0x64=100%</field>
<field name="calibration_status" type="uint8_t" enum="GIMBAL_AXIS_CALIBRATION_STATUS">The status of the running calibration</field>
</message>

<message name="GIMBAL_SET_HOME_OFFSETS" id="204">
<description>
Instructs the gimbal to set its current position as its new home position. Will primarily be used for factory calibration
</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
</message>

<message name="GIMBAL_HOME_OFFSET_CALIBRATION_RESULT" id="205">
<description>
Sent by the gimbal after it receives a SET_HOME_OFFSETS message to indicate the result of the home offset calibration
</description>
<field name="calibration_result" type="uint8_t" enum="GIMBAL_AXIS_CALIBRATION_STATUS">The result of the home offset calibration</field>
</message>

<message name="GIMBAL_SET_FACTORY_PARAMETERS" id="206">
<description>
Set factory configuration parameters (such as assembly date and time, and serial number). This is only intended to be used
during manufacture, not by end users, so it is protected by a simple checksum of sorts (this won't stop anybody determined,
it's mostly just to keep the average user from trying to modify these values. This will need to be revisited if that isn't
adequate.
</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
<field name="magic_1" type="uint32_t">Magic number 1 for validation</field>
<field name="magic_2" type="uint32_t">Magic number 2 for validation</field>
<field name="magic_3" type="uint32_t">Magic number 3 for validation</field>
<field name="assembly_year" type="uint16_t">Assembly Date Year</field>
<field name="assembly_month" type="uint8_t">Assembly Date Month</field>
<field name="assembly_day" type="uint8_t">Assembly Date Day</field>
<field name="assembly_hour" type="uint8_t">Assembly Time Hour</field>
<field name="assembly_minute" type="uint8_t">Assembly Time Minute</field>
<field name="assembly_second" type="uint8_t">Assembly Time Second</field>
<field name="serial_number_pt_1" type="uint32_t">Unit Serial Number Part 1 (part code, design, language/country)</field>
<field name="serial_number_pt_2" type="uint32_t">Unit Serial Number Part 2 (option, year, month)</field>
<field name="serial_number_pt_3" type="uint32_t">Unit Serial Number Part 3 (incrementing serial number per month)</field>
</message>

<message name="GIMBAL_FACTORY_PARAMETERS_LOADED" id="207">
<description>
Sent by the gimbal after the factory parameters are successfully loaded, to inform the factory software that the load is complete
</description>
<field name="dummy" type="uint8_t">Dummy field because mavgen doesn't allow messages with no fields</field>
</message>

<message name="GIMBAL_ERASE_FIRMWARE_AND_CONFIG" id="208">
<description>
Commands the gimbal to erase its firmware image and flash configuration, leaving only the bootloader. The gimbal will then reboot into the bootloader,
ready for the load of a new application firmware image. Erasing the flash configuration will cause the gimbal to re-perform axis calibration when a
new firmware image is loaded, and will cause all tuning parameters to return to their factory defaults. WARNING: sending this command will render a
gimbal inoperable until a new firmware image is loaded onto it. For this reason, a particular "knock" value must be sent for the command to take effect.
Use this command at your own risk
</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
<field name="knock" type="uint32_t">Knock value to confirm this is a valid request</field>
</message>

<message name="GIMBAL_PERFORM_FACTORY_TESTS" id="209">
<description>
Command the gimbal to perform a series of factory tests. Should not be needed by end users
</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
</message>

<message name="GIMBAL_REPORT_FACTORY_TESTS_PROGRESS" id="210">
<description>
Reports the current status of a section of a running factory test
</description>
<field name="test" type="uint8_t" enum="FACTORY_TEST">Which factory test is currently running</field>
<field name="test_section" type="uint8_t">Which section of the test is currently running. The meaning of this is test-dependent</field>
<field name="test_section_progress" type="uint8_t">The progress of the current test section, 0x64=100%</field>
<field name="test_status" type="uint8_t">The status of the currently executing test section. The meaning of this is test and section-dependent</field>
</message>

<!-- 211 to 214 RESERVED for more GIMBAL -->

<message name="GOPRO_POWER_ON" id="215">
<description>Instruct a HeroBus attached GoPro to power on</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
</message>

<message name="GOPRO_POWER_OFF" id="216">
<description>Instruct a HeroBus attached GoPro to power off</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
</message>

<message name="GOPRO_COMMAND" id="217">
<description>Send a command to a HeroBus attached GoPro. Will generate a GOPRO_RESPONSE message with results of the command</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
<field name="gp_cmd_name_1" type="uint8_t">First character of the 2 character GoPro command</field>
<field name="gp_cmd_name_2" type="uint8_t">Second character of the 2 character GoPro command</field>
<field name="gp_cmd_parm" type="uint8_t">Parameter for the command</field>
</message>

<message name="GOPRO_RESPONSE" id="218">
<description>
Response to a command sent to a HeroBus attached GoPro with a GOPRO_COMMAND message. Contains response from the camera as well as information about any errors encountered while attempting to communicate with the camera
</description>
<field name="gp_cmd_name_1" type="uint8_t">First character of the 2 character GoPro command that generated this response</field>
<field name="gp_cmd_name_2" type="uint8_t">Second character of the 2 character GoPro command that generated this response</field>
<field name="gp_cmd_response_status" type="uint8_t">Response byte from the GoPro's response to the command. 0 = Success, 1 = Failure</field>
<field name="gp_cmd_response_argument" type="uint8_t">Response argument from the GoPro's response to the command</field>
<field name="gp_cmd_result" type="uint16_t" enum="GOPRO_CMD_RESULT">Result of the command attempt to the GoPro, as defined by GOPRO_CMD_RESULT enum.</field>
</message>

<!-- 219 to 225 RESERVED for more GOPRO-->

</messages>
</mavlink>

0 comments on commit 3cc380c

Please sign in to comment.