diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
index 92d2d6b7bf20f4f8bc48ebe4ec0f167c6562c6a0..31a032782f2fd95bf0de7cdade87b6be0c28a50f 100644
--- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
+++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
@@ -45,7 +45,7 @@
<DefineConstants>TRACE;DEBUG;MAVLINK10cra</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
- <AllowUnsafeBlocks>false</AllowUnsafeBlocks>
+ <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
<DocumentationFile>
</DocumentationFile>
<CheckForOverflowUnderflow>false</CheckForOverflowUnderflow>
@@ -61,7 +61,7 @@
<DefineConstants>TRACE;DEBUG;MAVLINK10cra</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
- <AllowUnsafeBlocks>false</AllowUnsafeBlocks>
+ <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
<DocumentationFile>
</DocumentationFile>
<CheckForOverflowUnderflow>false</CheckForOverflowUnderflow>
@@ -318,6 +318,7 @@
<DependentUpon>Setup.cs</DependentUpon>
</Compile>
<Compile Include="MagCalib.cs" />
+ <Compile Include="Mavlink\MavlinkOther.cs" />
<Compile Include="PIDTunning.cs" />
<Compile Include="Radio\3DRradio.cs">
<SubType>UserControl</SubType>
diff --git a/Tools/ArdupilotMegaPlanner/CodeGen.cs b/Tools/ArdupilotMegaPlanner/CodeGen.cs
index f3faeaca2aa1d053dea83a0e9deaccc5ca2775ad..199bb33324d074871f247cbea84b3565341189d5 100644
--- a/Tools/ArdupilotMegaPlanner/CodeGen.cs
+++ b/Tools/ArdupilotMegaPlanner/CodeGen.cs
@@ -49,13 +49,12 @@ namespace ArdupilotMega
return answer;
}
- static ICodeCompiler CreateCompiler()
+ static CodeDomProvider CreateCompiler()
{
//Create an instance of the C# compiler
- CodeDomProvider codeProvider = null;
- codeProvider = new CSharpCodeProvider();
- ICodeCompiler compiler = codeProvider.CreateCompiler();
- return compiler;
+ CodeDomProvider codeProvider = CodeDomProvider.CreateProvider("CSharp");
+ //ICodeCompiler compiler = codeProvider.CreateCompiler();
+ return codeProvider;
}
/// <summary>
@@ -88,7 +87,7 @@ namespace ArdupilotMega
/// <param name="parms"></param>
/// <param name="source"></param>
/// <returns></returns>
- static private CompilerResults CompileCode(ICodeCompiler compiler, CompilerParameters parms, string source)
+ static private CompilerResults CompileCode(CodeDomProvider compiler, CompilerParameters parms, string source)
{
//actually compile the code
CompilerResults results = compiler.CompileAssemblyFromSource(
@@ -144,7 +143,7 @@ namespace ArdupilotMega
static private CompilerResults CompileAssembly()
{
// create a compiler
- ICodeCompiler compiler = CreateCompiler();
+ CodeDomProvider compiler = CreateCompiler();
// get all the compiler parameters
CompilerParameters parms = CreateCompilerParameters();
// compile the code into an assembly
diff --git a/Tools/ArdupilotMegaPlanner/Common.cs b/Tools/ArdupilotMegaPlanner/Common.cs
index 2840e9b7c84fe2b86534c3f3de05bb020926f5e4..4a596aeca5e2217e20f4101fc14ba56491263923 100644
--- a/Tools/ArdupilotMegaPlanner/Common.cs
+++ b/Tools/ArdupilotMegaPlanner/Common.cs
@@ -448,7 +448,7 @@ namespace ArdupilotMega
case (int)Common.apmmodes.LOITER:
case (int)Common.apmmodes.FLY_BY_WIRE_A:
case (int)Common.apmmodes.FLY_BY_WIRE_B:
- mode.base_mode = (byte)MAVLink.MAV_MODE_FLAG.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
+ mode.base_mode = (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED;
mode.custom_mode = (uint)(int)Enum.Parse(Common.getModes(), modein);
break;
default:
@@ -468,7 +468,7 @@ namespace ArdupilotMega
case (int)Common.ac2modes.ALT_HOLD:
case (int)Common.ac2modes.CIRCLE:
case (int)Common.ac2modes.POSITION:
- mode.base_mode = (byte)MAVLink.MAV_MODE_FLAG.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
+ mode.base_mode = (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED;
mode.custom_mode = (uint)(int)Enum.Parse(Common.getModes(), modein);
break;
default:
@@ -576,7 +576,10 @@ namespace ArdupilotMega
try
{
// this is for mono to a ssl server
- ServicePointManager.CertificatePolicy = new NoCheckCertificatePolicy();
+ //ServicePointManager.CertificatePolicy = new NoCheckCertificatePolicy();
+
+ ServicePointManager.ServerCertificateValidationCallback =
+ new System.Net.Security.RemoteCertificateValidationCallback((sender, certificate, chain, policyErrors) => { return true; });
// Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(url);
diff --git a/Tools/ArdupilotMegaPlanner/CurrentState.cs b/Tools/ArdupilotMegaPlanner/CurrentState.cs
index 719305e122c8c232372a5cf4013d8103ffbf253e..859fc0f1ab5db1095bdffd21b4dd19b4749f615b 100644
--- a/Tools/ArdupilotMegaPlanner/CurrentState.cs
+++ b/Tools/ArdupilotMegaPlanner/CurrentState.cs
@@ -385,9 +385,9 @@ namespace ArdupilotMega
mode = "Unknown";
- if ((hb.base_mode & (byte)MAVLink.MAV_MODE_FLAG.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) != 0)
+ if ((hb.base_mode & (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED) != 0)
{
- if (hb.type == (byte)MAVLink.MAV_TYPE.MAV_TYPE_FIXED_WING)
+ if (hb.type == (byte)MAVLink.MAV_TYPE.FIXED_WING)
{
switch (hb.custom_mode)
{
@@ -423,7 +423,7 @@ namespace ArdupilotMega
break;
}
}
- else if (hb.type == (byte)MAVLink.MAV_TYPE.MAV_TYPE_QUADROTOR)
+ else if (hb.type == (byte)MAVLink.MAV_TYPE.QUADROTOR)
{
switch (hb.custom_mode)
{
@@ -461,9 +461,9 @@ namespace ArdupilotMega
}
}
- if (oldmode != mode && MainV2.speechenable && MainV2.getConfig("speechmodeenabled") == "True")
+ if (oldmode != mode && MainV2.speechEnable && MainV2.getConfig("speechmodeenabled") == "True")
{
- MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
+ MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
}
}
@@ -726,9 +726,9 @@ namespace ArdupilotMega
wpno = wpcur.seq;
- if (oldwp != wpno && MainV2.speechenable && MainV2.getConfig("speechwaypointenabled") == "True")
+ if (oldwp != wpno && MainV2.speechEnable && MainV2.getConfig("speechwaypointenabled") == "True")
{
- MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
+ MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
}
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
index 512dad7487a8bf6a685d4cbea9ad55fdcc673c4b..2c875ef6449a259d14d380575b603884e173827d 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
@@ -579,7 +579,6 @@ namespace ArdupilotMega.GCSViews
}
}
catch { ((Control)text[0]).BackColor = Color.Red; }
-
Params.Focus();
}
@@ -712,13 +711,6 @@ namespace ArdupilotMega.GCSViews
{
if (ConfigTabs.SelectedTab == TabSetup)
{
- if (!MainV2.comPort.BaseStream.IsOpen)
- {
- CustomMessageBox.Show("Please Connect First");
- ConfigTabs.SelectedIndex = 0;
- }
- else
- {
GCSViews.ConfigurationView.Setup temp = new GCSViews.ConfigurationView.Setup();
@@ -729,7 +721,6 @@ namespace ArdupilotMega.GCSViews
startup = true;
processToScreen();
startup = false;
- }
}
}
@@ -1106,7 +1097,7 @@ namespace ArdupilotMega.GCSViews
{
param2 = loadParamFile(ofd.FileName);
- ParamCompare temp = new ParamCompare(this, param, param2);
+ ParamCompare temp = new ParamCompare(Params, param, param2);
ThemeManager.ApplyThemeTo(temp);
temp.ShowDialog();
}
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.Designer.cs b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.Designer.cs
index 2bcd2ea5580a4602139adb71cf898c1f1cccfb53..767aeb4a6f5906d525366944ad75cfe73e9cb280 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.Designer.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.Designer.cs
@@ -28,6 +28,7 @@
/// </summary>
private void InitializeComponent()
{
+ this.components = new System.ComponentModel.Container();
this.myLabel3 = new ArdupilotMega.MyLabel();
this.TUNE_LOW = new System.Windows.Forms.NumericUpDown();
this.TUNE_HIGH = new System.Windows.Forms.NumericUpDown();
@@ -123,6 +124,7 @@
this.label90 = new System.Windows.Forms.Label();
this.RATE_RLL_P = new System.Windows.Forms.NumericUpDown();
this.label91 = new System.Windows.Forms.Label();
+ this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
((System.ComponentModel.ISupportInitialize)(this.TUNE_LOW)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.TUNE_HIGH)).BeginInit();
this.groupBox5.SuspendLayout();
@@ -1090,6 +1092,7 @@
this.Controls.Add(this.groupBox25);
this.Name = "ConfigArducopter";
this.Size = new System.Drawing.Size(728, 393);
+ this.Load += new System.EventHandler(this.ConfigArducopter_Load);
((System.ComponentModel.ISupportInitialize)(this.TUNE_LOW)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.TUNE_HIGH)).EndInit();
this.groupBox5.ResumeLayout(false);
@@ -1243,5 +1246,6 @@
private System.Windows.Forms.Label label90;
private System.Windows.Forms.NumericUpDown RATE_RLL_P;
private System.Windows.Forms.Label label91;
+ private System.Windows.Forms.ToolTip toolTip1;
}
}
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.cs b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.cs
index 0d90aedb4b1ab43f490631fdf99664152d35257f..606a5f34d42c32dc19cd940e66647db38d0e4ac7 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.cs
@@ -7,14 +7,343 @@ using System.Linq;
using System.Text;
using System.Windows.Forms;
using ArdupilotMega.Controls.BackstageView;
+using System.Collections;
namespace ArdupilotMega.GCSViews.ConfigurationView
{
public partial class ConfigArducopter : BackStageViewContentPanel
{
+ Hashtable changes = new Hashtable();
+ static Hashtable tooltips = new Hashtable();
+ internal bool startup = true;
+
+
public ConfigArducopter()
{
InitializeComponent();
}
+
+ public struct paramsettings // hk's
+ {
+ public string name;
+ public float minvalue;
+ public float maxvalue;
+ public float normalvalue;
+ public float scale;
+ public string desc;
+ }
+
+ private void ConfigArducopter_Load(object sender, EventArgs e)
+ {
+ if (!MainV2.comPort.BaseStream.IsOpen)
+ {
+ this.Enabled = false;
+ return;
+ }
+ else
+ {
+ if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
+ {
+ this.Enabled = true;
+ }
+ else
+ {
+ this.Enabled = false;
+ return;
+ }
+ }
+
+ startup = true;
+
+ changes.Clear();
+
+ // read tooltips
+ if (tooltips.Count == 0)
+ readToolTips();
+
+ // ensure the fields are populated before setting them
+ CH7_OPT.DataSource = Enum.GetNames(typeof(Common.ac2ch7modes));
+ TUNE.DataSource = Enum.GetNames(typeof(Common.ac2ch6modes));
+
+ // prefill all fields
+ processToScreen();
+
+ startup = false;
+ }
+
+ void readToolTips()
+ {
+ System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Configuration));
+
+ string data = resources.GetString("MAVParam");
+
+ if (data == null)
+ {
+ data = global::ArdupilotMega.Properties.Resources.MAVParam;
+ }
+
+ string[] tips = data.Split(new char[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries);
+
+ foreach (var tip in tips)
+ {
+ if (!tip.StartsWith("||"))
+ continue;
+
+ string[] cols = tip.Split(new string[] { "||" }, 9, StringSplitOptions.None);
+
+ if (cols.Length >= 8)
+ {
+ paramsettings param = new paramsettings();
+ try
+ {
+ param.name = cols[1];
+ param.desc = AddNewLinesForTooltip(cols[7]);
+ param.scale = float.Parse(cols[5]);
+ param.minvalue = float.Parse(cols[2]);
+ param.maxvalue = float.Parse(cols[3]);
+ param.normalvalue = float.Parse(cols[4]);
+ }
+ catch { }
+ tooltips[cols[1]] = param;
+ }
+
+ }
+ }
+
+ // from http://stackoverflow.com/questions/2512781/winforms-big-paragraph-tooltip/2512895#2512895
+ private const int maximumSingleLineTooltipLength = 50;
+
+ private static string AddNewLinesForTooltip(string text)
+ {
+ if (text.Length < maximumSingleLineTooltipLength)
+ return text;
+ int lineLength = (int)Math.Sqrt((double)text.Length) * 2;
+ StringBuilder sb = new StringBuilder();
+ int currentLinePosition = 0;
+ for (int textIndex = 0; textIndex < text.Length; textIndex++)
+ {
+ // If we have reached the target line length and the next
+ // character is whitespace then begin a new line.
+ if (currentLinePosition >= lineLength &&
+ char.IsWhiteSpace(text[textIndex]))
+ {
+ sb.Append(Environment.NewLine);
+ currentLinePosition = 0;
+ }
+ // If we have just started a new line, skip all the whitespace.
+ if (currentLinePosition == 0)
+ while (textIndex < text.Length && char.IsWhiteSpace(text[textIndex]))
+ textIndex++;
+ // Append the next character.
+ if (textIndex < text.Length) sb.Append(text[textIndex]);
+ currentLinePosition++;
+ }
+ return sb.ToString();
+ }
+
+ void disableNumericUpDownControls(Control inctl)
+ {
+ foreach (Control ctl in inctl.Controls)
+ {
+ if (ctl.Controls.Count > 0)
+ {
+ disableNumericUpDownControls(ctl);
+ }
+ if (ctl.GetType() == typeof(NumericUpDown))
+ {
+ ctl.Enabled = false;
+ }
+ }
+ }
+
+ internal void processToScreen()
+ {
+ toolTip1.RemoveAll();
+
+ disableNumericUpDownControls(this);
+
+
+ // process hashdefines and update display
+ foreach (string value in MainV2.comPort.param.Keys)
+ {
+ if (value == null || value == "")
+ continue;
+
+ //System.Diagnostics.Debug.WriteLine("Doing: " + value);
+
+
+ string name = value;
+ Control[] text = this.Controls.Find(name, true);
+ foreach (Control ctl in text)
+ {
+ try
+ {
+ if (ctl.GetType() == typeof(NumericUpDown))
+ {
+
+ NumericUpDown thisctl = ((NumericUpDown)ctl);
+ thisctl.Maximum = 9000;
+ thisctl.Minimum = -9000;
+ thisctl.Value = (decimal)(float)MainV2.comPort.param[value];
+ thisctl.Increment = (decimal)0.001;
+ if (thisctl.Name.EndsWith("_P") || thisctl.Name.EndsWith("_I") || thisctl.Name.EndsWith("_D")
+ || thisctl.Name.EndsWith("_LOW") || thisctl.Name.EndsWith("_HIGH") || thisctl.Value == 0
+ || thisctl.Value.ToString("0.###", new System.Globalization.CultureInfo("en-US")).Contains("."))
+ {
+ thisctl.DecimalPlaces = 3;
+ }
+ else
+ {
+ thisctl.Increment = (decimal)1;
+ thisctl.DecimalPlaces = 1;
+ }
+
+ if (thisctl.Name.EndsWith("_IMAX"))
+ {
+ thisctl.Maximum = 180;
+ thisctl.Minimum = -180;
+ }
+
+ thisctl.Enabled = true;
+
+ thisctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
+ thisctl.Validated += null;
+ if (tooltips[value] != null)
+ {
+ try
+ {
+ toolTip1.SetToolTip(ctl, ((paramsettings)tooltips[value]).desc);
+ }
+ catch { }
+ }
+ thisctl.Validated += new EventHandler(EEPROM_View_float_TextChanged);
+
+ }
+ else if (ctl.GetType() == typeof(ComboBox))
+ {
+
+ ComboBox thisctl = ((ComboBox)ctl);
+
+ thisctl.SelectedIndex = (int)(float)MainV2.comPort.param[value];
+
+ thisctl.Validated += new EventHandler(ComboBox_Validated);
+
+ thisctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
+ }
+ }
+ catch { }
+
+ }
+ if (text.Length == 0)
+ {
+ //Console.WriteLine(name + " not found");
+ }
+
+ }
+ }
+
+ void ComboBox_Validated(object sender, EventArgs e)
+ {
+ EEPROM_View_float_TextChanged(sender, e);
+ }
+
+ void Configuration_Validating(object sender, CancelEventArgs e)
+ {
+ EEPROM_View_float_TextChanged(sender, e);
+ }
+
+ internal void EEPROM_View_float_TextChanged(object sender, EventArgs e)
+ {
+ if (startup == true)
+ return;
+
+ float value = 0;
+ string name = ((Control)sender).Name;
+
+ // do domainupdown state check
+ try
+ {
+ if (sender.GetType() == typeof(NumericUpDown))
+ {
+ value = float.Parse(((Control)sender).Text);
+ changes[name] = value;
+ }
+ else if (sender.GetType() == typeof(ComboBox))
+ {
+ value = ((ComboBox)sender).SelectedIndex;
+ changes[name] = value;
+ }
+ ((Control)sender).BackColor = Color.Green;
+ }
+ catch (Exception)
+ {
+ ((Control)sender).BackColor = Color.Red;
+ }
+
+ try
+ {
+ // enable roll and pitch pairing for ac2
+ if (CHK_lockrollpitch.Checked)
+ {
+ if (name.StartsWith("RATE_") || name.StartsWith("STB_") || name.StartsWith("ACRO_"))
+ {
+ if (name.Contains("_RLL_"))
+ {
+ string newname = name.Replace("_RLL_", "_PIT_");
+ Control[] arr = this.Controls.Find(newname, true);
+ changes[newname] = float.Parse(((Control)sender).Text);
+
+ if (arr.Length > 0)
+ {
+ arr[0].Text = ((Control)sender).Text;
+ arr[0].BackColor = Color.Green;
+ }
+
+ }
+ else if (name.Contains("_PIT_"))
+ {
+ string newname = name.Replace("_PIT_", "_RLL_");
+ Control[] arr = this.Controls.Find(newname, true);
+ changes[newname] = float.Parse(((Control)sender).Text);
+
+ if (arr.Length > 0)
+ {
+ arr[0].Text = ((Control)sender).Text;
+ arr[0].BackColor = Color.Green;
+ }
+ }
+ }
+ }
+ // keep nav_lat and nav_lon paired
+ if (name.Contains("NAV_LAT_"))
+ {
+ string newname = name.Replace("NAV_LAT_", "NAV_LON_");
+ Control[] arr = this.Controls.Find(newname, true);
+ changes[newname] = float.Parse(((Control)sender).Text);
+
+ if (arr.Length > 0)
+ {
+ arr[0].Text = ((Control)sender).Text;
+ arr[0].BackColor = Color.Green;
+ }
+ }
+ // keep nav_lat and nav_lon paired
+ if (name.Contains("HLD_LAT_"))
+ {
+ string newname = name.Replace("HLD_LAT_", "HLD_LON_");
+ Control[] arr = this.Controls.Find(newname, true);
+ changes[newname] = float.Parse(((Control)sender).Text);
+
+ if (arr.Length > 0)
+ {
+ arr[0].Text = ((Control)sender).Text;
+ arr[0].BackColor = Color.Green;
+ }
+ }
+ }
+ catch { }
+ }
+
+
}
}
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.resx b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.resx
index 7080a7d118e8cd7ec668e9bb0d8e90767e0c7a3c..271670364af059e95ad645d78fad7553ecbd0d09 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.resx
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.resx
@@ -117,4 +117,7 @@
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
+ <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+ <value>17, 17</value>
+ </metadata>
</root>
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.Designer.cs b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.Designer.cs
index a6928f5b2176a7e723fa53b9de7865a486e9dcd3..f30b039741e027ba75455bbfab1439f67891aea1 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.Designer.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.Designer.cs
@@ -28,6 +28,7 @@
/// </summary>
private void InitializeComponent()
{
+ this.components = new System.ComponentModel.Container();
this.groupBox3 = new System.Windows.Forms.GroupBox();
this.THR_FS_VALUE = new System.Windows.Forms.NumericUpDown();
this.label5 = new System.Windows.Forms.Label();
@@ -128,6 +129,7 @@
this.label51 = new System.Windows.Forms.Label();
this.RLL2SRV_P = new System.Windows.Forms.NumericUpDown();
this.label52 = new System.Windows.Forms.Label();
+ this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
this.groupBox3.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.THR_FS_VALUE)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.THR_MAX)).BeginInit();
@@ -1104,6 +1106,7 @@
this.Controls.Add(this.groupBox8);
this.Name = "ConfigArduplane";
this.Size = new System.Drawing.Size(621, 456);
+ this.Load += new System.EventHandler(this.ConfigArduplane_Load);
this.groupBox3.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.THR_FS_VALUE)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.THR_MAX)).EndInit();
@@ -1266,5 +1269,6 @@
private System.Windows.Forms.Label label51;
private System.Windows.Forms.NumericUpDown RLL2SRV_P;
private System.Windows.Forms.Label label52;
+ private System.Windows.Forms.ToolTip toolTip1;
}
}
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.cs b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.cs
index 96ae024bca877c76f6359a977201c14166cc5d5a..34afb1dc4c35063fa6fffebe77091856f654c93d 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.cs
@@ -7,14 +7,265 @@ using System.Linq;
using System.Text;
using System.Windows.Forms;
using ArdupilotMega.Controls.BackstageView;
+using System.Collections;
namespace ArdupilotMega.GCSViews.ConfigurationView
{
public partial class ConfigArduplane : BackStageViewContentPanel
{
+ Hashtable changes = new Hashtable();
+ static Hashtable tooltips = new Hashtable();
+ internal bool startup = true;
+
public ConfigArduplane()
{
InitializeComponent();
}
+
+ private void ConfigArduplane_Load(object sender, EventArgs e)
+ {
+ if (!MainV2.comPort.BaseStream.IsOpen)
+ {
+ this.Enabled = false;
+ return;
+ }
+ else
+ {
+ if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+ {
+ this.Enabled = true;
+ }
+ else
+ {
+ this.Enabled = false;
+ return;
+ }
+ }
+
+ startup = true;
+
+ changes.Clear();
+
+ // read tooltips
+ if (tooltips.Count == 0)
+ readToolTips();
+
+ processToScreen();
+
+ startup = false;
+ }
+
+ public struct paramsettings // hk's
+ {
+ public string name;
+ public float minvalue;
+ public float maxvalue;
+ public float normalvalue;
+ public float scale;
+ public string desc;
+ }
+
+ void readToolTips()
+ {
+ System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Configuration));
+
+ string data = resources.GetString("MAVParam");
+
+ if (data == null)
+ {
+ data = global::ArdupilotMega.Properties.Resources.MAVParam;
+ }
+
+ string[] tips = data.Split(new char[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries);
+
+ foreach (var tip in tips)
+ {
+ if (!tip.StartsWith("||"))
+ continue;
+
+ string[] cols = tip.Split(new string[] { "||" }, 9, StringSplitOptions.None);
+
+ if (cols.Length >= 8)
+ {
+ paramsettings param = new paramsettings();
+ try
+ {
+ param.name = cols[1];
+ param.desc = AddNewLinesForTooltip(cols[7]);
+ param.scale = float.Parse(cols[5]);
+ param.minvalue = float.Parse(cols[2]);
+ param.maxvalue = float.Parse(cols[3]);
+ param.normalvalue = float.Parse(cols[4]);
+ }
+ catch { }
+ tooltips[cols[1]] = param;
+ }
+
+ }
+ }
+
+
+ // from http://stackoverflow.com/questions/2512781/winforms-big-paragraph-tooltip/2512895#2512895
+ private const int maximumSingleLineTooltipLength = 50;
+
+ private static string AddNewLinesForTooltip(string text)
+ {
+ if (text.Length < maximumSingleLineTooltipLength)
+ return text;
+ int lineLength = (int)Math.Sqrt((double)text.Length) * 2;
+ StringBuilder sb = new StringBuilder();
+ int currentLinePosition = 0;
+ for (int textIndex = 0; textIndex < text.Length; textIndex++)
+ {
+ // If we have reached the target line length and the next
+ // character is whitespace then begin a new line.
+ if (currentLinePosition >= lineLength &&
+ char.IsWhiteSpace(text[textIndex]))
+ {
+ sb.Append(Environment.NewLine);
+ currentLinePosition = 0;
+ }
+ // If we have just started a new line, skip all the whitespace.
+ if (currentLinePosition == 0)
+ while (textIndex < text.Length && char.IsWhiteSpace(text[textIndex]))
+ textIndex++;
+ // Append the next character.
+ if (textIndex < text.Length) sb.Append(text[textIndex]);
+ currentLinePosition++;
+ }
+ return sb.ToString();
+ }
+
+ void disableNumericUpDownControls(Control inctl)
+ {
+ foreach (Control ctl in inctl.Controls)
+ {
+ if (ctl.Controls.Count > 0)
+ {
+ disableNumericUpDownControls(ctl);
+ }
+ if (ctl.GetType() == typeof(NumericUpDown))
+ {
+ ctl.Enabled = false;
+ }
+ }
+ }
+
+ internal void processToScreen()
+ {
+ toolTip1.RemoveAll();
+
+ disableNumericUpDownControls(this);
+
+ // process hashdefines and update display
+ foreach (string value in MainV2.comPort.param.Keys)
+ {
+ if (value == null || value == "")
+ continue;
+
+ string name = value;
+ Control[] text = this.Controls.Find(name, true);
+ foreach (Control ctl in text)
+ {
+ try
+ {
+ if (ctl.GetType() == typeof(NumericUpDown))
+ {
+
+ NumericUpDown thisctl = ((NumericUpDown)ctl);
+ thisctl.Maximum = 9000;
+ thisctl.Minimum = -9000;
+ thisctl.Value = (decimal)(float)MainV2.comPort.param[value];
+ thisctl.Increment = (decimal)0.001;
+ if (thisctl.Name.EndsWith("_P") || thisctl.Name.EndsWith("_I") || thisctl.Name.EndsWith("_D")
+ || thisctl.Name.EndsWith("_LOW") || thisctl.Name.EndsWith("_HIGH") || thisctl.Value == 0
+ || thisctl.Value.ToString("0.###", new System.Globalization.CultureInfo("en-US")).Contains("."))
+ {
+ thisctl.DecimalPlaces = 3;
+ }
+ else
+ {
+ thisctl.Increment = (decimal)1;
+ thisctl.DecimalPlaces = 1;
+ }
+
+ if (thisctl.Name.EndsWith("_IMAX"))
+ {
+ thisctl.Maximum = 180;
+ thisctl.Minimum = -180;
+ }
+
+ thisctl.Enabled = true;
+
+ thisctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
+ thisctl.Validated += null;
+ if (tooltips[value] != null)
+ {
+ try
+ {
+ toolTip1.SetToolTip(ctl, ((paramsettings)tooltips[value]).desc);
+ }
+ catch { }
+ }
+ thisctl.Validated += new EventHandler(EEPROM_View_float_TextChanged);
+
+ }
+ else if (ctl.GetType() == typeof(ComboBox))
+ {
+
+ ComboBox thisctl = ((ComboBox)ctl);
+
+ thisctl.SelectedIndex = (int)(float)MainV2.comPort.param[value];
+
+ thisctl.Validated += new EventHandler(ComboBox_Validated);
+ }
+ }
+ catch { }
+
+ }
+ if (text.Length == 0)
+ {
+ //Console.WriteLine(name + " not found");
+ }
+
+ }
+ }
+
+ void ComboBox_Validated(object sender, EventArgs e)
+ {
+ EEPROM_View_float_TextChanged(sender, e);
+ }
+
+ void Configuration_Validating(object sender, CancelEventArgs e)
+ {
+ EEPROM_View_float_TextChanged(sender, e);
+ }
+
+ internal void EEPROM_View_float_TextChanged(object sender, EventArgs e)
+ {
+ float value = 0;
+ string name = ((Control)sender).Name;
+
+ // do domainupdown state check
+ try
+ {
+ if (sender.GetType() == typeof(NumericUpDown))
+ {
+ value = float.Parse(((Control)sender).Text);
+ changes[name] = value;
+ }
+ else if (sender.GetType() == typeof(ComboBox))
+ {
+ value = ((ComboBox)sender).SelectedIndex;
+ changes[name] = value;
+ }
+ ((Control)sender).BackColor = Color.Green;
+ }
+ catch (Exception)
+ {
+ ((Control)sender).BackColor = Color.Red;
+ }
+ }
+
}
}
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.resx b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.resx
index 7080a7d118e8cd7ec668e9bb0d8e90767e0c7a3c..271670364af059e95ad645d78fad7553ecbd0d09 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.resx
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.resx
@@ -117,4 +117,7 @@
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
+ <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+ <value>17, 17</value>
+ </metadata>
</root>
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigHardwareOptions.cs b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigHardwareOptions.cs
index d54bb4d027854e851e58771d3748ef9ae309bdc5..470cd0902623664b6571e1977d5846f80ef6234f 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigHardwareOptions.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigHardwareOptions.cs
@@ -32,7 +32,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
MainV2.cs.ratesensors = 10;
- MainV2.comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS, MainV2.cs.ratesensors); // mag captures at 10 hz
+ MainV2.comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // mag captures at 10 hz
CustomMessageBox.Show("Data will be collected for 30 seconds, Please click ok and move the apm around all axises");
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRadioInput.cs b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRadioInput.cs
index afc309479438f455648a443b066d39eb2157d090..91e6716fe9283c875a43b0715c416f1250124e2e 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRadioInput.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRadioInput.cs
@@ -115,7 +115,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
try
{
- MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, 10);
+ MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, 10);
}
catch { }
@@ -229,7 +229,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
try
{
- MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, oldrc);
+ MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, oldrc);
}
catch { }
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.Designer.cs b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.Designer.cs
index 7887cd29c9dc4e1e62b9914a1856cd898f0f3e9c..8ef9695b9248d63afad52b09590e2dfdd48936f8 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.Designer.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.Designer.cs
@@ -28,6 +28,7 @@
/// </summary>
private void InitializeComponent()
{
+ this.components = new System.ComponentModel.Container();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
this.BUT_compare = new ArdupilotMega.MyButton();
@@ -41,11 +42,13 @@
this.Default = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.mavScale = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.RawValue = new System.Windows.Forms.DataGridViewTextBoxColumn();
+ this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
((System.ComponentModel.ISupportInitialize)(this.Params)).BeginInit();
this.SuspendLayout();
//
// BUT_compare
//
+ this.BUT_compare.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.BUT_compare.ImeMode = System.Windows.Forms.ImeMode.NoControl;
this.BUT_compare.Location = new System.Drawing.Point(341, 119);
this.BUT_compare.Name = "BUT_compare";
@@ -57,6 +60,7 @@
//
// BUT_rerequestparams
//
+ this.BUT_rerequestparams.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.BUT_rerequestparams.ImeMode = System.Windows.Forms.ImeMode.NoControl;
this.BUT_rerequestparams.Location = new System.Drawing.Point(341, 94);
this.BUT_rerequestparams.Name = "BUT_rerequestparams";
@@ -68,6 +72,7 @@
//
// BUT_writePIDS
//
+ this.BUT_writePIDS.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.BUT_writePIDS.ImeMode = System.Windows.Forms.ImeMode.NoControl;
this.BUT_writePIDS.Location = new System.Drawing.Point(341, 69);
this.BUT_writePIDS.Name = "BUT_writePIDS";
@@ -79,6 +84,7 @@
//
// BUT_save
//
+ this.BUT_save.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.BUT_save.ImeMode = System.Windows.Forms.ImeMode.NoControl;
this.BUT_save.Location = new System.Drawing.Point(341, 35);
this.BUT_save.Margin = new System.Windows.Forms.Padding(0);
@@ -91,6 +97,7 @@
//
// BUT_load
//
+ this.BUT_load.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.BUT_load.ImeMode = System.Windows.Forms.ImeMode.NoControl;
this.BUT_load.Location = new System.Drawing.Point(341, 7);
this.BUT_load.Margin = new System.Windows.Forms.Padding(0);
@@ -105,8 +112,9 @@
//
this.Params.AllowUserToAddRows = false;
this.Params.AllowUserToDeleteRows = false;
- this.Params.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
- | System.Windows.Forms.AnchorStyles.Left)));
+ this.Params.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
+ | System.Windows.Forms.AnchorStyles.Left)
+ | System.Windows.Forms.AnchorStyles.Right)));
dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle1.BackColor = System.Drawing.Color.Maroon;
dataGridViewCellStyle1.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
@@ -136,6 +144,7 @@
this.Params.RowHeadersWidth = 150;
this.Params.Size = new System.Drawing.Size(321, 302);
this.Params.TabIndex = 68;
+ this.Params.CellValueChanged += new System.Windows.Forms.DataGridViewCellEventHandler(this.Params_CellValueChanged);
//
// Command
//
@@ -181,8 +190,6 @@
this.Name = "ConfigRawParams";
this.Size = new System.Drawing.Size(460, 305);
this.Load += new System.EventHandler(this.ConfigRawParams_Load);
- this.ControlAdded += new System.Windows.Forms.ControlEventHandler(this.ConfigRawParams_ControlAdded);
- this.ControlRemoved += new System.Windows.Forms.ControlEventHandler(this.ConfigRawParams_ControlRemoved);
((System.ComponentModel.ISupportInitialize)(this.Params)).EndInit();
this.ResumeLayout(false);
@@ -201,5 +208,6 @@
private System.Windows.Forms.DataGridViewTextBoxColumn Default;
private System.Windows.Forms.DataGridViewTextBoxColumn mavScale;
private System.Windows.Forms.DataGridViewTextBoxColumn RawValue;
+ private System.Windows.Forms.ToolTip toolTip1;
}
}
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.cs b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.cs
index bb6cbb9cedf67064f6e6781c42a7c42688e9e8d0..4d9cf61ece2b4aafff0f998dfab362d85ce139e1 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.cs
@@ -21,9 +21,21 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
// Changes made to the params between writing to the copter
readonly Hashtable _changes = new Hashtable();
+ static Hashtable tooltips = new Hashtable();
+
// ?
internal bool startup = true;
+ public struct paramsettings // hk's
+ {
+ public string name;
+ public float minvalue;
+ public float maxvalue;
+ public float normalvalue;
+ public float scale;
+ public string desc;
+ }
+
public ConfigRawParams()
{
@@ -234,11 +246,10 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
{
param2 = loadParamFile(ofd.FileName);
- int fixme;
- //var paramCompareForm = new ParamCompare((Form)this, MainV2.comPort.param, param2);
+ Form paramCompareForm = new ParamCompare(Params, MainV2.comPort.param, param2);
- //ThemeManager.ApplyThemeTo(paramCompareForm);
- //paramCompareForm.ShowDialog();
+ ThemeManager.ApplyThemeTo(paramCompareForm);
+ paramCompareForm.ShowDialog();
}
}
@@ -264,25 +275,155 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
((Control)sender).Enabled = true;
startup = true;
+
+ processToScreen();
+
+ startup = false;
// Todo: this populates or the combos etc and what not. This shoudl prob be a bsv button
}
- private void ConfigRawParams_Load(object sender, EventArgs e)
+ void Params_CellValueChanged(object sender, DataGridViewCellEventArgs e)
{
+ if (e.RowIndex == -1 || e.ColumnIndex == -1 || startup == true || e.ColumnIndex != 1)
+ return;
+ try
+ {
+ if (Params[Command.Index, e.RowIndex].Value.ToString().EndsWith("_REV") && (Params[Command.Index, e.RowIndex].Value.ToString().StartsWith("RC") || Params[Command.Index, e.RowIndex].Value.ToString().StartsWith("HS")))
+ {
+ if (Params[e.ColumnIndex, e.RowIndex].Value.ToString() == "0")
+ Params[e.ColumnIndex, e.RowIndex].Value = "-1";
+ }
+
+ Params[e.ColumnIndex, e.RowIndex].Style.BackColor = Color.Green;
+ _changes[Params[0, e.RowIndex].Value] = float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString());
+ }
+ catch (Exception)
+ {
+ Params[e.ColumnIndex, e.RowIndex].Style.BackColor = Color.Red;
+ }
+
+ Params.Focus();
}
- private void ConfigRawParams_ControlRemoved(object sender, ControlEventArgs e)
+ void readToolTips()
{
+ System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Configuration));
+
+ string data = resources.GetString("MAVParam");
+
+ if (data == null)
+ {
+ data = global::ArdupilotMega.Properties.Resources.MAVParam;
+ }
+
+ string[] tips = data.Split(new char[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries);
+
+ foreach (var tip in tips)
+ {
+ if (!tip.StartsWith("||"))
+ continue;
+
+ string[] cols = tip.Split(new string[] { "||" }, 9, StringSplitOptions.None);
+
+ if (cols.Length >= 8)
+ {
+ paramsettings param = new paramsettings();
+ try
+ {
+ param.name = cols[1];
+ param.desc = AddNewLinesForTooltip(cols[7]);
+ param.scale = float.Parse(cols[5]);
+ param.minvalue = float.Parse(cols[2]);
+ param.maxvalue = float.Parse(cols[3]);
+ param.normalvalue = float.Parse(cols[4]);
+ }
+ catch { }
+ tooltips[cols[1]] = param;
+ }
+ }
}
- private void ConfigRawParams_ControlAdded(object sender, ControlEventArgs e)
+ // from http://stackoverflow.com/questions/2512781/winforms-big-paragraph-tooltip/2512895#2512895
+ private const int maximumSingleLineTooltipLength = 50;
+
+ private static string AddNewLinesForTooltip(string text)
{
+ if (text.Length < maximumSingleLineTooltipLength)
+ return text;
+ int lineLength = (int)Math.Sqrt((double)text.Length) * 2;
+ StringBuilder sb = new StringBuilder();
+ int currentLinePosition = 0;
+ for (int textIndex = 0; textIndex < text.Length; textIndex++)
+ {
+ // If we have reached the target line length and the next
+ // character is whitespace then begin a new line.
+ if (currentLinePosition >= lineLength &&
+ char.IsWhiteSpace(text[textIndex]))
+ {
+ sb.Append(Environment.NewLine);
+ currentLinePosition = 0;
+ }
+ // If we have just started a new line, skip all the whitespace.
+ if (currentLinePosition == 0)
+ while (textIndex < text.Length && char.IsWhiteSpace(text[textIndex]))
+ textIndex++;
+ // Append the next character.
+ if (textIndex < text.Length) sb.Append(text[textIndex]);
+ currentLinePosition++;
+ }
+ return sb.ToString();
+ }
+
+ internal void processToScreen()
+ {
+ toolTip1.RemoveAll();
+ Params.Rows.Clear();
+
+ // process hashdefines and update display
+ foreach (string value in MainV2.comPort.param.Keys)
+ {
+ if (value == null || value == "")
+ continue;
+
+ //System.Diagnostics.Debug.WriteLine("Doing: " + value);
+ Params.Rows.Add();
+ Params.Rows[Params.RowCount - 1].Cells[Command.Index].Value = value;
+ Params.Rows[Params.RowCount - 1].Cells[Value.Index].Value = ((float)MainV2.comPort.param[value]).ToString("0.###");
+ try
+ {
+ if (tooltips[value] != null)
+ {
+ Params.Rows[Params.RowCount - 1].Cells[Command.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
+ //Params.Rows[Params.RowCount - 1].Cells[RawValue.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
+ Params.Rows[Params.RowCount - 1].Cells[Value.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
+
+ //Params.Rows[Params.RowCount - 1].Cells[Default.Index].Value = ((paramsettings)tooltips[value]).normalvalue;
+ //Params.Rows[Params.RowCount - 1].Cells[mavScale.Index].Value = ((paramsettings)tooltips[value]).scale;
+ //Params.Rows[Params.RowCount - 1].Cells[Value.Index].Value = float.Parse(Params.Rows[Params.RowCount - 1].Cells[RawValue.Index].Value.ToString()) / float.Parse(Params.Rows[Params.RowCount - 1].Cells[mavScale.Index].Value.ToString());
+ }
+ }
+ catch { }
+
+ }
+ Params.Sort(Params.Columns[0], ListSortDirection.Ascending);
}
+ private void ConfigRawParams_Load(object sender, EventArgs e)
+ {
+ // read tooltips
+ if (tooltips.Count == 0)
+ readToolTips();
+
+ startup = true;
+
+ processToScreen();
+
+ startup = false;
+ }
}
}
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.resx b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.resx
index 3267b6926035e94882e895935adec4ef0298c36a..a5480f3926deaeefb4646c4b220a1361f00f0004 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.resx
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.resx
@@ -129,4 +129,7 @@
<metadata name="RawValue.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
+ <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+ <value>17, 17</value>
+ </metadata>
</root>
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Configuration.Designer.cs b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Configuration.Designer.cs
index 714e60edaeffa10dcdf26c1049d0b2cf4ad4926b..9878d6c5428b9041c1697057687a764493f0395c 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Configuration.Designer.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Configuration.Designer.cs
@@ -47,6 +47,7 @@
this.Controls.Add(this.backstageView);
this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
this.Name = "Configuration";
+ this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.Configuration_FormClosing);
this.ResumeLayout(false);
this.PerformLayout();
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Configuration.cs b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Configuration.cs
index 33869ddb028a6d2eed9dfb3911ad7e677cb16fa6..459bf45cb6fa3068aa831990b68b6bb7cbe3a296 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Configuration.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Configuration.cs
@@ -23,9 +23,14 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
this.backstageView.AddPage(new BackstageView.BackstageViewPage(new ConfigAccelerometerCalibration(), "Level Calibration"));
this.backstageView.AddPage(new BackstageView.BackstageViewPage(new ConfigArducopter(), "Arducopter Setup"));
this.backstageView.AddPage(new BackstageView.BackstageViewPage(new ConfigArduplane(), "Arduplane Setup"));
- this.backstageView.AddPage(new BackstageView.BackstageViewPage(new ConfigArduplane(), "Heli Setup"));
+ this.backstageView.AddPage(new BackstageView.BackstageViewPage(new ConfigTradHeli(), "Heli Setup"));
this.backstageView.AddPage(new BackstageView.BackstageViewPage(new ConfigRawParams(), "Raw params (Advanced)"));
this.backstageView.AddPage(new BackstageView.BackstageViewPage(new ConfigPlanner(), "Planner"));
}
+
+ private void Configuration_FormClosing(object sender, FormClosingEventArgs e)
+ {
+ backstageView.Close();
+ }
}
}
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Setup.Designer.cs b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Setup.Designer.cs
index f0ca41efc7de92b0700c87f0270fb0c175a89bd9..6476469624b5b2a94181748a76331854cd9b7274 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Setup.Designer.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Setup.Designer.cs
@@ -29,20 +29,9 @@
private void InitializeComponent()
{
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Setup));
- this.lbl_pleaseconnect = new System.Windows.Forms.Label();
this.backstageView = new ArdupilotMega.Controls.BackstageView.BackstageView();
this.SuspendLayout();
//
- // lbl_pleaseconnect
- //
- this.lbl_pleaseconnect.AutoSize = true;
- this.lbl_pleaseconnect.Location = new System.Drawing.Point(297, 284);
- this.lbl_pleaseconnect.Name = "lbl_pleaseconnect";
- this.lbl_pleaseconnect.Size = new System.Drawing.Size(104, 13);
- this.lbl_pleaseconnect.TabIndex = 1;
- this.lbl_pleaseconnect.Text = "Please Connect First";
- this.lbl_pleaseconnect.Visible = false;
- //
// backstageView
//
this.backstageView.AutoSize = true;
@@ -55,7 +44,6 @@
// Setup
//
this.ClientSize = new System.Drawing.Size(823, 468);
- this.Controls.Add(this.lbl_pleaseconnect);
this.Controls.Add(this.backstageView);
this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
this.MinimumSize = new System.Drawing.Size(839, 506);
@@ -71,6 +59,5 @@
#endregion
private Controls.BackstageView.BackstageView backstageView;
- private System.Windows.Forms.Label lbl_pleaseconnect;
}
}
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
index 3f3143eaf262bf3af493e6c92b678d0b4b15994b..fb77827749a74b2718aff9f109390d9633d1b19f 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
@@ -276,14 +276,14 @@ namespace ArdupilotMega.GCSViews
{
//System.Threading.Thread.Sleep(1000);
- //comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_CONTROLLER, 0); // request servoout
- comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTENDED_STATUS, MainV2.cs.ratestatus); // mode
- comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_POSITION, MainV2.cs.rateposition); // request gps
- comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA1, MainV2.cs.rateattitude); // request attitude
- comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA2, MainV2.cs.rateattitude); // request vfr
- comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA3, MainV2.cs.ratesensors); // request extra stuff - tridge
- comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
- comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, MainV2.cs.raterc); // request rc info
+ //comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_CONTROLLER, 0); // request servoout
+ comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, MainV2.cs.ratestatus); // mode
+ comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.POSITION, MainV2.cs.rateposition); // request gps
+ comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA1, MainV2.cs.rateattitude); // request attitude
+ comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA2, MainV2.cs.rateattitude); // request vfr
+ comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA3, MainV2.cs.ratesensors); // request extra stuff - tridge
+ comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
+ comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MainV2.cs.raterc); // request rc info
}
catch { }
lastdata = DateTime.Now.AddSeconds(12); // prevent flooding
@@ -927,7 +927,7 @@ namespace ArdupilotMega.GCSViews
{
MainV2.giveComport = true;
- MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
+ MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT, (byte)2);
GuidedModeWP = new PointLatLngAlt(gotohere.lat, gotohere.lng, gotohere.alt,"Guided Mode");
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
index 490d6f88fa0dfaf906e9bb9b8ef82a0a8d118267..4c861632ad84cbe90f550301173f7e31157052c1 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
@@ -1164,7 +1164,7 @@ namespace ArdupilotMega.GCSViews
sw.Write((a + 1)); // seq
sw.Write("\t" + 0); // current
- sw.Write("\t" + (CHK_altmode.Checked == true ? (byte)MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL : (byte)MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT)); //frame
+ sw.Write("\t" + (CHK_altmode.Checked == true ? (byte)MAVLink.MAV_FRAME.GLOBAL : (byte)MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT)); //frame
sw.Write("\t" + mode);
sw.Write("\t" + double.Parse(Commands.Rows[a].Cells[Param1.Index].Value.ToString()).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
sw.Write("\t" + double.Parse(Commands.Rows[a].Cells[Param2.Index].Value.ToString()).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
@@ -1352,9 +1352,9 @@ namespace ArdupilotMega.GCSViews
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(0, "Set Home");
- port.setWP(home, (ushort)0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL, 0);
+ port.setWP(home, (ushort)0, MAVLink.MAV_FRAME.GLOBAL, 0);
- MAVLink.MAV_FRAME frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT;
+ MAVLink.MAV_FRAME frame = MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT;
// process grid to memory eeprom
for (int a = 0; a < Commands.Rows.Count - 0; a++)
@@ -1368,11 +1368,11 @@ namespace ArdupilotMega.GCSViews
{
if (CHK_altmode.Checked)
{
- frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL;
+ frame = MAVLink.MAV_FRAME.GLOBAL;
}
else
{
- frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT;
+ frame = MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT;
}
}
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
index d97921914e16500fe7231ebcb052ed4577dc20dc..f5872fe2a3fc6e1a6bfc80b9ff6ae528d4e75b99 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
@@ -51,7 +51,11 @@ namespace ArdupilotMega.GCSViews
// gps buffer
int gpsbufferindex = 0;
+#if !MAVLINK10
ArdupilotMega.MAVLink.mavlink_gps_raw_t[] gpsbuffer = new MAVLink.mavlink_gps_raw_t[5];
+#else
+ ArdupilotMega.MAVLink.mavlink_gps_raw_int_t[] gpsbuffer = new MAVLink.mavlink_gps_raw_int_t[5];
+#endif
// set defaults
int rollgain = 10000;
@@ -374,7 +378,6 @@ namespace ArdupilotMega.GCSViews
/// <param name="write">true/false</param>
private void xmlconfig(bool write)
{
- int fixme; // add profiles?
if (write)
{
ArdupilotMega.MainV2.config["REV_roll"] = CHKREV_roll.Checked.ToString();
@@ -576,11 +579,11 @@ namespace ArdupilotMega.GCSViews
{
if (CHK_quad.Checked && !RAD_aerosimrc.Checked)// || chkSensor.Checked && RAD_JSBSim.Checked)
{
- comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_CONTROLLER, 0); // request servoout
+ comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_CONTROLLER, 0); // request servoout
}
else
{
- comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_CONTROLLER, 50); // request servoout
+ comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_CONTROLLER, 50); // request servoout
}
}
catch { }
@@ -834,11 +837,11 @@ namespace ArdupilotMega.GCSViews
gps.fix_type = 3;
if (xplane9)
{
- gps.cog = ((float)DATA[19][2]);
+ gps.cog = (ushort)((float)DATA[19][2]);
}
else
{
- gps.cog = ((float)DATA[18][2]);
+ gps.cog = (ushort)((float)DATA[18][2]);
}
gps.lat = (int)(DATA[20][0] * 1.0e7);
gps.lon = (int)(DATA[20][1] * 1.0e7);
@@ -1167,7 +1170,11 @@ namespace ArdupilotMega.GCSViews
sitlout.alt = gps.alt;
sitlout.lat = gps.lat;
sitlout.lon = gps.lon;
+#if !MAVLINK10
sitlout.heading = gps.hdg;
+#else
+ sitlout.heading = gps.cog;
+#endif
sitlout.v_north = DATA[21][4];
sitlout.v_east = DATA[21][5];
diff --git a/Tools/ArdupilotMegaPlanner/MAVLink.cs b/Tools/ArdupilotMegaPlanner/MAVLink.cs
index 0e918f344f544cc5311b48edab0231bc7f5a0306..fc6ea283abfceb2818b21c4a012932392eaa7773 100644
--- a/Tools/ArdupilotMegaPlanner/MAVLink.cs
+++ b/Tools/ArdupilotMegaPlanner/MAVLink.cs
@@ -799,7 +799,7 @@ namespace ArdupilotMega
public bool setWPCurrent(ushort index)
{
#if MAVLINK10
- MainV2.givecomport = true;
+ MainV2.giveComport = true;
byte[] buffer;
mavlink_mission_set_current_t req = new mavlink_mission_set_current_t();
@@ -825,7 +825,7 @@ namespace ArdupilotMega
retrys--;
continue;
}
- MainV2.givecomport = false;
+ MainV2.giveComport = false;
throw new Exception("Timeout on read - setWPCurrent");
}
@@ -834,7 +834,7 @@ namespace ArdupilotMega
{
if (buffer[5] == MAVLINK_MSG_ID_MISSION_CURRENT)
{
- MainV2.givecomport = false;
+ MainV2.giveComport = false;
return true;
}
}
@@ -844,7 +844,7 @@ namespace ArdupilotMega
public bool doCommand(MAV_CMD actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
{
- MainV2.givecomport = true;
+ MainV2.giveComport = true;
byte[] buffer;
mavlink_command_long_t req = new mavlink_command_long_t();
@@ -888,7 +888,7 @@ namespace ArdupilotMega
retrys--;
continue;
}
- MainV2.givecomport = false;
+ MainV2.giveComport = false;
throw new Exception("Timeout on read - doAction");
}
@@ -902,14 +902,14 @@ namespace ArdupilotMega
var ack = buffer.ByteArrayToStructure<mavlink_command_ack_t>(6);
- if (ack.result == (byte)MAV_RESULT.MAV_RESULT_ACCEPTED)
+ if (ack.result == (byte)MAV_RESULT.ACCEPTED)
{
- MainV2.givecomport = false;
+ MainV2.giveComport = false;
return true;
}
else
{
- MainV2.givecomport = false;
+ MainV2.giveComport = false;
return false;
}
}
@@ -1032,10 +1032,10 @@ namespace ArdupilotMega
switch (id)
{
- case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_ALL:
+ case (byte)MAVLink.MAV_DATA_STREAM.ALL:
break;
- case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTENDED_STATUS:
+ case (byte)MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS:
if (packetspersecondbuild[MAVLINK_MSG_ID_SYS_STATUS] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_SYS_STATUS];
@@ -1044,7 +1044,7 @@ namespace ArdupilotMega
return;
}
break;
- case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA1:
+ case (byte)MAVLink.MAV_DATA_STREAM.EXTRA1:
if (packetspersecondbuild[MAVLINK_MSG_ID_ATTITUDE] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_ATTITUDE];
@@ -1053,7 +1053,7 @@ namespace ArdupilotMega
return;
}
break;
- case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA2:
+ case (byte)MAVLink.MAV_DATA_STREAM.EXTRA2:
if (packetspersecondbuild[MAVLINK_MSG_ID_VFR_HUD] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_VFR_HUD];
@@ -1062,7 +1062,7 @@ namespace ArdupilotMega
return;
}
break;
- case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA3:
+ case (byte)MAVLink.MAV_DATA_STREAM.EXTRA3:
if (packetspersecondbuild[MAVLINK_MSG_ID_AHRS] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_AHRS];
@@ -1071,7 +1071,7 @@ namespace ArdupilotMega
return;
}
break;
- case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_POSITION:
+ case (byte)MAVLink.MAV_DATA_STREAM.POSITION:
// ac2 does not send rate position
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
return;
@@ -1083,7 +1083,7 @@ namespace ArdupilotMega
return;
}
break;
- case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_CONTROLLER:
+ case (byte)MAVLink.MAV_DATA_STREAM.RAW_CONTROLLER:
if (packetspersecondbuild[MAVLINK_MSG_ID_RC_CHANNELS_SCALED] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_RC_CHANNELS_SCALED];
@@ -1092,7 +1092,7 @@ namespace ArdupilotMega
return;
}
break;
- case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS:
+ case (byte)MAVLink.MAV_DATA_STREAM.RAW_SENSORS:
if (packetspersecondbuild[MAVLINK_MSG_ID_RAW_IMU] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_RAW_IMU];
@@ -1101,7 +1101,7 @@ namespace ArdupilotMega
return;
}
break;
- case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS:
+ case (byte)MAVLink.MAV_DATA_STREAM.RC_CHANNELS:
if (packetspersecondbuild[MAVLINK_MSG_ID_RC_CHANNELS_RAW] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_RC_CHANNELS_RAW];
@@ -1193,13 +1193,13 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
- log.Info("getWPCount Retry " + retrys + " - giv com " + MainV2.givecomport);
+ log.Info("getWPCount Retry " + retrys + " - giv com " + MainV2.giveComport);
generatePacket(MAVLINK_MSG_ID_MISSION_REQUEST_LIST, req);
start = DateTime.Now;
retrys--;
continue;
}
- MainV2.givecomport = false;
+ MainV2.giveComport = false;
//return (byte)int.Parse(param["WP_TOTAL"].ToString());
throw new Exception("Timeout on read - getWPCount");
}
@@ -1216,7 +1216,7 @@ namespace ArdupilotMega
log.Info("wpcount: " + count.count);
- MainV2.givecomport = false;
+ MainV2.giveComport = false;
return (byte)count.count; // should be ushort, but apm has limited wp count < byte
}
else
@@ -1311,7 +1311,7 @@ namespace ArdupilotMega
retrys--;
continue;
}
- MainV2.givecomport = false;
+ MainV2.giveComport = false;
throw new Exception("Timeout on read - getWP");
}
//Console.WriteLine("getwp read " + DateTime.Now.Millisecond);
@@ -1561,7 +1561,7 @@ namespace ArdupilotMega
public void setWPTotal(ushort wp_total)
{
#if MAVLINK10
- MainV2.givecomport = true;
+ MainV2.giveComport = true;
mavlink_mission_count_t req = new mavlink_mission_count_t();
req.target_system = sysid;
@@ -1586,7 +1586,7 @@ namespace ArdupilotMega
retrys--;
continue;
}
- MainV2.givecomport = false;
+ MainV2.giveComport = false;
throw new Exception("Timeout on read - setWPTotal");
}
byte[] buffer = readPacket();
@@ -1605,7 +1605,7 @@ namespace ArdupilotMega
param["WP_TOTAL"] = (float)wp_total - 1;
if (param["CMD_TOTAL"] != null)
param["CMD_TOTAL"] = (float)wp_total - 1;
- MainV2.givecomport = false;
+ MainV2.giveComport = false;
return;
}
}
@@ -1813,12 +1813,12 @@ namespace ArdupilotMega
if (ans.seq == (index + 1))
{
log.Info("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]);
- MainV2.givecomport = false;
+ MainV2.giveComport = false;
break;
}
else
{
- log.Info("set wp fail doing " + index + " req " + ans.seq + " ACK 47 or REQ 40 : " + buffer[5] + " seq {0} ts {1} tc {2}", req.seq, req.target_system, req.target_component);
+ log.InfoFormat("set wp fail doing " + index + " req " + ans.seq + " ACK 47 or REQ 40 : " + buffer[5] + " seq {0} ts {1} tc {2}", req.seq, req.target_system, req.target_component);
//break;
}
}
diff --git a/Tools/ArdupilotMegaPlanner/MAVLinkTypes.cs b/Tools/ArdupilotMegaPlanner/MAVLinkTypes.cs
index 215c9c545bf020af33b06da55d2466bffe130244..d1e2fffbfb5a80e8dcb68efb5f5edb1ef710b784 100644
--- a/Tools/ArdupilotMegaPlanner/MAVLinkTypes.cs
+++ b/Tools/ArdupilotMegaPlanner/MAVLinkTypes.cs
@@ -1,1935 +1,2374 @@
-using System;
-using System.Collections.Generic;
-using System.Text;
-using System.Runtime.InteropServices;
-
-namespace ArdupilotMega
-{
-#if MAVLINK10
- partial class MAVLink
- {
- public const string MAVLINK_BUILD_DATE = "Wed Apr 4 18:13:10 2012";
- public const string MAVLINK_WIRE_PROTOCOL_VERSION = "1.0";
- public const int MAVLINK_MAX_DIALECT_PAYLOAD_SIZE = 42;
-
- public const int MAVLINK_LITTLE_ENDIAN = 1;
- public const int MAVLINK_BIG_ENDIAN = 0;
-
- public const byte MAVLINK_STX = 254;
-
- public const byte MAVLINK_ENDIAN = MAVLINK_LITTLE_ENDIAN;
-
- public const bool MAVLINK_ALIGNED_FIELDS = (1 == 1);
-
- public const byte MAVLINK_CRC_EXTRA = 1;
-
- public const bool MAVLINK_NEED_BYTE_SWAP = (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN);
-
- public byte[] MAVLINK_MESSAGE_LENGTHS = new byte[] {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 0, 0, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 36, 3, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 3};
-
- public byte[] MAVLINK_MESSAGE_CRCS = new byte[] {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 0, 0, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 42, 21, 244, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 247};
-
- public Type[] MAVLINK_MESSAGE_INFO = new Type[] {typeof( mavlink_heartbeat_t ), typeof( mavlink_sys_status_t ), typeof( mavlink_system_time_t ), null, typeof( mavlink_ping_t ), typeof( mavlink_change_operator_control_t ), typeof( mavlink_change_operator_control_ack_t ), typeof( mavlink_auth_key_t ), null, null, null, typeof( mavlink_set_mode_t ), null, null, null, null, null, null, null, null, typeof( mavlink_param_request_read_t ), typeof( mavlink_param_request_list_t ), typeof( mavlink_param_value_t ), typeof( mavlink_param_set_t ), typeof( mavlink_gps_raw_int_t ), typeof( mavlink_gps_status_t ), typeof( mavlink_scaled_imu_t ), typeof( mavlink_raw_imu_t ), typeof( mavlink_raw_pressure_t ), typeof( mavlink_scaled_pressure_t ), typeof( mavlink_attitude_t ), typeof( mavlink_attitude_quaternion_t ), typeof( mavlink_local_position_ned_t ), typeof( mavlink_global_position_int_t ), typeof( mavlink_rc_channels_scaled_t ), typeof( mavlink_rc_channels_raw_t ), typeof( mavlink_servo_output_raw_t ), typeof( mavlink_mission_request_partial_list_t ), typeof( mavlink_mission_write_partial_list_t ), typeof( mavlink_mission_item_t ), typeof( mavlink_mission_request_t ), typeof( mavlink_mission_set_current_t ), typeof( mavlink_mission_current_t ), typeof( mavlink_mission_request_list_t ), typeof( mavlink_mission_count_t ), typeof( mavlink_mission_clear_all_t ), typeof( mavlink_mission_item_reached_t ), typeof( mavlink_mission_ack_t ), typeof( mavlink_set_gps_global_origin_t ), typeof( mavlink_gps_global_origin_t ), typeof( mavlink_set_local_position_setpoint_t ), typeof( mavlink_local_position_setpoint_t ), typeof( mavlink_global_position_setpoint_int_t ), typeof( mavlink_set_global_position_setpoint_int_t ), typeof( mavlink_safety_set_allowed_area_t ), typeof( mavlink_safety_allowed_area_t ), typeof( mavlink_set_roll_pitch_yaw_thrust_t ), typeof( mavlink_set_roll_pitch_yaw_speed_thrust_t ), typeof( mavlink_roll_pitch_yaw_thrust_setpoint_t ), typeof( mavlink_roll_pitch_yaw_speed_thrust_setpoint_t ), null, null, typeof( mavlink_nav_controller_output_t ), null, typeof( mavlink_state_correction_t ), null, typeof( mavlink_request_data_stream_t ), typeof( mavlink_data_stream_t ), null, typeof( mavlink_manual_control_t ), typeof( mavlink_rc_channels_override_t ), null, null, null, typeof( mavlink_vfr_hud_t ), null, typeof( mavlink_command_long_t ), typeof( mavlink_command_ack_t ), null, null, null, null, null, null, null, null, null, null, null, null, typeof( mavlink_hil_state_t ), typeof( mavlink_hil_controls_t ), typeof( mavlink_hil_rc_inputs_raw_t ), null, null, null, null, null, null, null, typeof( mavlink_optical_flow_t ), typeof( mavlink_global_vision_position_estimate_t ), typeof( mavlink_vision_position_estimate_t ), typeof( mavlink_vision_speed_estimate_t ), typeof( mavlink_vicon_position_estimate_t ), null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, typeof( mavlink_sensor_offsets_t ), typeof( mavlink_set_mag_offsets_t ), typeof( mavlink_meminfo_t ), typeof( mavlink_ap_adc_t ), typeof( mavlink_digicam_configure_t ), typeof( mavlink_digicam_control_t ), typeof( mavlink_mount_configure_t ), typeof( mavlink_mount_control_t ), typeof( mavlink_mount_status_t ), null, typeof( mavlink_fence_point_t ), typeof( mavlink_fence_fetch_point_t ), typeof( mavlink_fence_status_t ), typeof( mavlink_ahrs_t ), typeof( mavlink_simstate_t ), typeof( mavlink_hwstatus_t ), typeof( mavlink_radio_t ), null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, typeof( mavlink_memory_vect_t ), typeof( mavlink_debug_vect_t ), typeof( mavlink_named_value_float_t ), typeof( mavlink_named_value_int_t ), typeof( mavlink_statustext_t ), typeof( mavlink_debug_t ), typeof( mavlink_extended_message_t )};
-
- public const byte MAVLINK_VERSION = 3;
-
-
- /** @brief Enumeration of possible mount operation modes */
- public enum MAV_MOUNT_MODE
- {
- ///<summary> Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization | </summary>
- RETRACT=0,
- ///<summary> Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM. | </summary>
- NEUTRAL=1,
- ///<summary> Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization | </summary>
- MAVLINK_TARGETING=2,
- ///<summary> Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | </summary>
- RC_TARGETING=3,
- ///<summary> Load neutral position and start to point to Lat,Lon,Alt | </summary>
- GPS_POINT=4,
- ///<summary> | </summary>
- ENUM_END=5,
-
- };
-
- /** @brief */
- public enum MAV_CMD
- {
- ///<summary> Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| </summary>
- NAV_WAYPOINT=16,
- ///<summary> Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| </summary>
- NAV_LOITER_UNLIM=17,
- ///<summary> Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| </summary>
- NAV_LOITER_TURNS=18,
- ///<summary> Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| </summary>
- NAV_LOITER_TIME=19,
- ///<summary> Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| </summary>
- NAV_RETURN_TO_LAUNCH=20,
- ///<summary> Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| </summary>
- NAV_LAND=21,
- ///<summary> Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| </summary>
- NAV_TAKEOFF=22,
- ///<summary> 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. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| </summary>
- NAV_ROI=80,
- ///<summary> Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| </summary>
- NAV_PATHPLANNING=81,
- ///<summary> NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| </summary>
- NAV_LAST=95,
- ///<summary> Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| </summary>
- CONDITION_DELAY=112,
- ///<summary> Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| </summary>
- CONDITION_CHANGE_ALT=113,
- ///<summary> Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| </summary>
- CONDITION_DISTANCE=114,
- ///<summary> Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| </summary>
- CONDITION_YAW=115,
- ///<summary> NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| </summary>
- CONDITION_LAST=159,
- ///<summary> Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| </summary>
- DO_SET_MODE=176,
- ///<summary> Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| </summary>
- DO_JUMP=177,
- ///<summary> Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| </summary>
- DO_CHANGE_SPEED=178,
- ///<summary> Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| </summary>
- DO_SET_HOME=179,
- ///<summary> Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| </summary>
- DO_SET_PARAMETER=180,
- ///<summary> Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| </summary>
- DO_SET_RELAY=181,
- ///<summary> Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| </summary>
- DO_REPEAT_RELAY=182,
- ///<summary> Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| </summary>
- DO_SET_SERVO=183,
- ///<summary> Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| </summary>
- DO_REPEAT_SERVO=184,
- ///<summary> Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| </summary>
- DO_CONTROL_VIDEO=200,
- ///<summary> Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| </summary>
- DO_DIGICAM_CONFIGURE=202,
- ///<summary> Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| </summary>
- DO_DIGICAM_CONTROL=203,
- ///<summary> Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| </summary>
- DO_MOUNT_CONFIGURE=204,
- ///<summary> Mission command to control a camera or antenna mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty| </summary>
- DO_MOUNT_CONTROL=205,
- ///<summary> NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| </summary>
- DO_LAST=240,
- ///<summary> Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Empty| Empty| Empty| </summary>
- PREFLIGHT_CALIBRATION=241,
- ///<summary> Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| </summary>
- PREFLIGHT_SET_SENSOR_OFFSETS=242,
- ///<summary> Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| </summary>
- PREFLIGHT_STORAGE=245,
- ///<summary> Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| </summary>
- PREFLIGHT_REBOOT_SHUTDOWN=246,
- ///<summary> Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| </summary>
- OVERRIDE_GOTO=252,
- ///<summary> start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| </summary>
- MISSION_START=300,
- ///<summary> | </summary>
- ENUM_END=301,
-
- };
-
- /** @brief */
- public enum FENCE_ACTION
- {
- ///<summary> Disable fenced mode | </summary>
- NONE=0,
- ///<summary> Switched to guided mode to return point (fence point 0) | </summary>
- GUIDED=1,
- ///<summary> | </summary>
- ENUM_END=2,
-
- };
-
- /** @brief */
- public enum FENCE_BREACH
- {
- ///<summary> No last fence breach | </summary>
- NONE=0,
- ///<summary> Breached minimum altitude | </summary>
- MINALT=1,
- ///<summary> Breached minimum altitude | </summary>
- MAXALT=2,
- ///<summary> Breached fence boundary | </summary>
- BOUNDARY=3,
- ///<summary> | </summary>
- ENUM_END=4,
-
- };
-
-
-
- public const byte MAVLINK_MSG_ID_SENSOR_OFFSETS = 150;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=42)]
- public struct mavlink_sensor_offsets_t
- {
- /// <summary> magnetic declination (radians) </summary>
- public Single mag_declination;
- /// <summary> raw pressure from barometer </summary>
- public Int32 raw_press;
- /// <summary> raw temperature from barometer </summary>
- public Int32 raw_temp;
- /// <summary> gyro X calibration </summary>
- public Single gyro_cal_x;
- /// <summary> gyro Y calibration </summary>
- public Single gyro_cal_y;
- /// <summary> gyro Z calibration </summary>
- public Single gyro_cal_z;
- /// <summary> accel X calibration </summary>
- public Single accel_cal_x;
- /// <summary> accel Y calibration </summary>
- public Single accel_cal_y;
- /// <summary> accel Z calibration </summary>
- public Single accel_cal_z;
- /// <summary> magnetometer X offset </summary>
- public Int16 mag_ofs_x;
- /// <summary> magnetometer Y offset </summary>
- public Int16 mag_ofs_y;
- /// <summary> magnetometer Z offset </summary>
- public Int16 mag_ofs_z;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_SET_MAG_OFFSETS = 151;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=8)]
- public struct mavlink_set_mag_offsets_t
- {
- /// <summary> magnetometer X offset </summary>
- public Int16 mag_ofs_x;
- /// <summary> magnetometer Y offset </summary>
- public Int16 mag_ofs_y;
- /// <summary> magnetometer Z offset </summary>
- public Int16 mag_ofs_z;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MEMINFO = 152;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=4)]
- public struct mavlink_meminfo_t
- {
- /// <summary> heap top </summary>
- public UInt16 brkval;
- /// <summary> free memory </summary>
- public UInt16 freemem;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_AP_ADC = 153;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=12)]
- public struct mavlink_ap_adc_t
- {
- /// <summary> ADC output 1 </summary>
- public UInt16 adc1;
- /// <summary> ADC output 2 </summary>
- public UInt16 adc2;
- /// <summary> ADC output 3 </summary>
- public UInt16 adc3;
- /// <summary> ADC output 4 </summary>
- public UInt16 adc4;
- /// <summary> ADC output 5 </summary>
- public UInt16 adc5;
- /// <summary> ADC output 6 </summary>
- public UInt16 adc6;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_DIGICAM_CONFIGURE = 154;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=15)]
- public struct mavlink_digicam_configure_t
- {
- /// <summary> Correspondent value to given extra_param </summary>
- public Single extra_value;
- /// <summary> Divisor number //e.g. 1000 means 1/1000 (0 means ignore) </summary>
- public UInt16 shutter_speed;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
- /// <summary> Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) </summary>
- public byte mode;
- /// <summary> F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) </summary>
- public byte aperture;
- /// <summary> ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) </summary>
- public byte iso;
- /// <summary> Exposure type enumeration from 1 to N (0 means ignore) </summary>
- public byte exposure_type;
- /// <summary> Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once </summary>
- public byte command_id;
- /// <summary> Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) </summary>
- public byte engine_cut_off;
- /// <summary> Extra parameters enumeration (0 means ignore) </summary>
- public byte extra_param;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_DIGICAM_CONTROL = 155;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=13)]
- public struct mavlink_digicam_control_t
- {
- /// <summary> Correspondent value to given extra_param </summary>
- public Single extra_value;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
- /// <summary> 0: stop, 1: start or keep it up //Session control e.g. show/hide lens </summary>
- public byte session;
- /// <summary> 1 to N //Zoom's absolute position (0 means ignore) </summary>
- public byte zoom_pos;
- /// <summary> -100 to 100 //Zooming step value to offset zoom from the current position </summary>
- public byte zoom_step;
- /// <summary> 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus </summary>
- public byte focus_lock;
- /// <summary> 0: ignore, 1: shot or start filming </summary>
- public byte shot;
- /// <summary> Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once </summary>
- public byte command_id;
- /// <summary> Extra parameters enumeration (0 means ignore) </summary>
- public byte extra_param;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MOUNT_CONFIGURE = 156;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=6)]
- public struct mavlink_mount_configure_t
- {
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
- /// <summary> mount operating mode (see MAV_MOUNT_MODE enum) </summary>
- public byte mount_mode;
- /// <summary> (1 = yes, 0 = no) </summary>
- public byte stab_roll;
- /// <summary> (1 = yes, 0 = no) </summary>
- public byte stab_pitch;
- /// <summary> (1 = yes, 0 = no) </summary>
- public byte stab_yaw;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MOUNT_CONTROL = 157;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=15)]
- public struct mavlink_mount_control_t
- {
- /// <summary> pitch(deg*100) or lat, depending on mount mode </summary>
- public Int32 input_a;
- /// <summary> roll(deg*100) or lon depending on mount mode </summary>
- public Int32 input_b;
- /// <summary> yaw(deg*100) or alt (in cm) depending on mount mode </summary>
- public Int32 input_c;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
- /// <summary> if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) </summary>
- public byte save_position;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MOUNT_STATUS = 158;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=14)]
- public struct mavlink_mount_status_t
- {
- /// <summary> pitch(deg*100) or lat, depending on mount mode </summary>
- public Int32 pointing_a;
- /// <summary> roll(deg*100) or lon depending on mount mode </summary>
- public Int32 pointing_b;
- /// <summary> yaw(deg*100) or alt (in cm) depending on mount mode </summary>
- public Int32 pointing_c;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_FENCE_POINT = 160;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=12)]
- public struct mavlink_fence_point_t
- {
- /// <summary> Latitude of point </summary>
- public Single lat;
- /// <summary> Longitude of point </summary>
- public Single lng;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
- /// <summary> point index (first point is 1, 0 is for return point) </summary>
- public byte idx;
- /// <summary> total number of points (for sanity checking) </summary>
- public byte count;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_FENCE_FETCH_POINT = 161;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=3)]
- public struct mavlink_fence_fetch_point_t
- {
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
- /// <summary> point index (first point is 1, 0 is for return point) </summary>
- public byte idx;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_FENCE_STATUS = 162;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=8)]
- public struct mavlink_fence_status_t
- {
- /// <summary> time of last breach in milliseconds since boot </summary>
- public UInt32 breach_time;
- /// <summary> number of fence breaches </summary>
- public UInt16 breach_count;
- /// <summary> 0 if currently inside fence, 1 if outside </summary>
- public byte breach_status;
- /// <summary> last breach type (see FENCE_BREACH_* enum) </summary>
- public byte breach_type;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_AHRS = 163;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=28)]
- public struct mavlink_ahrs_t
- {
- /// <summary> X gyro drift estimate rad/s </summary>
- public Single omegaIx;
- /// <summary> Y gyro drift estimate rad/s </summary>
- public Single omegaIy;
- /// <summary> Z gyro drift estimate rad/s </summary>
- public Single omegaIz;
- /// <summary> average accel_weight </summary>
- public Single accel_weight;
- /// <summary> average renormalisation value </summary>
- public Single renorm_val;
- /// <summary> average error_roll_pitch value </summary>
- public Single error_rp;
- /// <summary> average error_yaw value </summary>
- public Single error_yaw;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_SIMSTATE = 164;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=36)]
- public struct mavlink_simstate_t
- {
- /// <summary> Roll angle (rad) </summary>
- public Single roll;
- /// <summary> Pitch angle (rad) </summary>
- public Single pitch;
- /// <summary> Yaw angle (rad) </summary>
- public Single yaw;
- /// <summary> X acceleration m/s/s </summary>
- public Single xacc;
- /// <summary> Y acceleration m/s/s </summary>
- public Single yacc;
- /// <summary> Z acceleration m/s/s </summary>
- public Single zacc;
- /// <summary> Angular speed around X axis rad/s </summary>
- public Single xgyro;
- /// <summary> Angular speed around Y axis rad/s </summary>
- public Single ygyro;
- /// <summary> Angular speed around Z axis rad/s </summary>
- public Single zgyro;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_HWSTATUS = 165;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=3)]
- public struct mavlink_hwstatus_t
- {
- /// <summary> board voltage (mV) </summary>
- public UInt16 Vcc;
- /// <summary> I2C error count </summary>
- public byte I2Cerr;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_RADIO = 166;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=9)]
- public struct mavlink_radio_t
- {
- /// <summary> receive errors </summary>
- public UInt16 rxerrors;
- /// <summary> serial errors </summary>
- public UInt16 serrors;
- /// <summary> count of error corrected packets </summary>
- public UInt16 fixed;
- /// <summary> local signal strength </summary>
- public byte rssi;
- /// <summary> remote signal strength </summary>
- public byte remrssi;
- /// <summary> how full the tx buffer is as a percentage </summary>
- public byte txbuf;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_HEARTBEAT = 0;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=9)]
- public struct mavlink_heartbeat_t
- {
- /// <summary> Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. </summary>
- public UInt32 custom_mode;
- /// <summary> Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) </summary>
- public byte type;
- /// <summary> Autopilot type / class. defined in MAV_CLASS ENUM </summary>
- public byte autopilot;
- /// <summary> System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h </summary>
- public byte base_mode;
- /// <summary> System status flag, see MAV_STATUS ENUM </summary>
- public byte system_status;
- /// <summary> MAVLink version </summary>
- public byte mavlink_version;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_SYS_STATUS = 1;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=31)]
- public struct mavlink_sys_status_t
- {
- /// <summary> 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 </summary>
- public UInt32 onboard_control_sensors_present;
- /// <summary> 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 </summary>
- public UInt32 onboard_control_sensors_enabled;
- /// <summary> 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 </summary>
- public UInt32 onboard_control_sensors_health;
- /// <summary> Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 </summary>
- public UInt16 load;
- /// <summary> Battery voltage, in millivolts (1 = 1 millivolt) </summary>
- public UInt16 voltage_battery;
- /// <summary> Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current </summary>
- public Int16 current_battery;
- /// <summary> 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) </summary>
- public UInt16 drop_rate_comm;
- /// <summary> Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) </summary>
- public UInt16 errors_comm;
- /// <summary> Autopilot-specific errors </summary>
- public UInt16 errors_count1;
- /// <summary> Autopilot-specific errors </summary>
- public UInt16 errors_count2;
- /// <summary> Autopilot-specific errors </summary>
- public UInt16 errors_count3;
- /// <summary> Autopilot-specific errors </summary>
- public UInt16 errors_count4;
- /// <summary> Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery </summary>
- public byte battery_remaining;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_SYSTEM_TIME = 2;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=12)]
- public struct mavlink_system_time_t
- {
- /// <summary> Timestamp of the master clock in microseconds since UNIX epoch. </summary>
- public UInt64 time_unix_usec;
- /// <summary> Timestamp of the component clock since boot time in milliseconds. </summary>
- public UInt32 time_boot_ms;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_PING = 4;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=14)]
- public struct mavlink_ping_t
- {
- /// <summary> Unix timestamp in microseconds </summary>
- public UInt64 time_usec;
- /// <summary> PING sequence </summary>
- public UInt32 seq;
- /// <summary> 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 </summary>
- public byte target_system;
- /// <summary> 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 </summary>
- public byte target_component;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL = 5;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=28)]
- public struct mavlink_change_operator_control_t
- {
- /// <summary> System the GCS requests control for </summary>
- public byte target_system;
- /// <summary> 0: request control of this MAV, 1: Release control of this MAV </summary>
- public byte control_request;
- /// <summary> 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. </summary>
- public byte version;
- /// <summary> 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 "!?,.-" </summary>
- [MarshalAs(UnmanagedType.ByValArray,SizeConst=25)]
- public string passkey;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK = 6;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=3)]
- public struct mavlink_change_operator_control_ack_t
- {
- /// <summary> ID of the GCS this message </summary>
- public byte gcs_system_id;
- /// <summary> 0: request control of this MAV, 1: Release control of this MAV </summary>
- public byte control_request;
- /// <summary> 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control </summary>
- public byte ack;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_AUTH_KEY = 7;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=32)]
- public struct mavlink_auth_key_t
- {
- /// <summary> key </summary>
- [MarshalAs(UnmanagedType.ByValArray,SizeConst=32)]
- public string key;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_SET_MODE = 11;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=6)]
- public struct mavlink_set_mode_t
- {
- /// <summary> The new autopilot-specific mode. This field can be ignored by an autopilot. </summary>
- public UInt32 custom_mode;
- /// <summary> The system setting the mode </summary>
- public byte target_system;
- /// <summary> The new base mode </summary>
- public byte base_mode;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_PARAM_REQUEST_READ = 20;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=20)]
- public struct mavlink_param_request_read_t
- {
- /// <summary> Parameter index. Send -1 to use the param ID field as identifier </summary>
- public Int16 param_index;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
- /// <summary> Onboard parameter id </summary>
- [MarshalAs(UnmanagedType.ByValArray,SizeConst=16)]
- public string param_id;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_PARAM_REQUEST_LIST = 21;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=2)]
- public struct mavlink_param_request_list_t
- {
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_PARAM_VALUE = 22;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=25)]
- public struct mavlink_param_value_t
- {
- /// <summary> Onboard parameter value </summary>
- public Single param_value;
- /// <summary> Total number of onboard parameters </summary>
- public UInt16 param_count;
- /// <summary> Index of this onboard parameter </summary>
- public UInt16 param_index;
- /// <summary> Onboard parameter id </summary>
- [MarshalAs(UnmanagedType.ByValArray,SizeConst=16)]
- public string param_id;
- /// <summary> Onboard parameter type: see MAV_VAR enum </summary>
- public byte param_type;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_PARAM_SET = 23;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=23)]
- public struct mavlink_param_set_t
- {
- /// <summary> Onboard parameter value </summary>
- public Single param_value;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
- /// <summary> Onboard parameter id </summary>
- [MarshalAs(UnmanagedType.ByValArray,SizeConst=16)]
- public string param_id;
- /// <summary> Onboard parameter type: see MAV_VAR enum </summary>
- public byte param_type;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_GPS_RAW_INT = 24;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=30)]
- public struct mavlink_gps_raw_int_t
- {
- /// <summary> Timestamp (microseconds since UNIX epoch or microseconds since system boot) </summary>
- public UInt64 time_usec;
- /// <summary> Latitude in 1E7 degrees </summary>
- public Int32 lat;
- /// <summary> Longitude in 1E7 degrees </summary>
- public Int32 lon;
- /// <summary> Altitude in 1E3 meters (millimeters) above MSL </summary>
- public Int32 alt;
- /// <summary> GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 </summary>
- public UInt16 eph;
- /// <summary> GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 </summary>
- public UInt16 epv;
- /// <summary> GPS ground speed (m/s * 100). If unknown, set to: 65535 </summary>
- public UInt16 vel;
- /// <summary> Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 </summary>
- public UInt16 cog;
- /// <summary> 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. </summary>
- public byte fix_type;
- /// <summary> Number of satellites visible. If unknown, set to 255 </summary>
- public byte satellites_visible;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_GPS_STATUS = 25;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=101)]
- public struct mavlink_gps_status_t
- {
- /// <summary> Number of satellites visible </summary>
- public byte satellites_visible;
- /// <summary> Global satellite ID </summary>
- [MarshalAs(UnmanagedType.ByValArray,SizeConst=20)]
- public byte[] satellite_prn;
- /// <summary> 0: Satellite not used, 1: used for localization </summary>
- [MarshalAs(UnmanagedType.ByValArray,SizeConst=20)]
- public byte[] satellite_used;
- /// <summary> Elevation (0: right on top of receiver, 90: on the horizon) of satellite </summary>
- [MarshalAs(UnmanagedType.ByValArray,SizeConst=20)]
- public byte[] satellite_elevation;
- /// <summary> Direction of satellite, 0: 0 deg, 255: 360 deg. </summary>
- [MarshalAs(UnmanagedType.ByValArray,SizeConst=20)]
- public byte[] satellite_azimuth;
- /// <summary> Signal to noise ratio of satellite </summary>
- [MarshalAs(UnmanagedType.ByValArray,SizeConst=20)]
- public byte[] satellite_snr;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_SCALED_IMU = 26;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=22)]
- public struct mavlink_scaled_imu_t
- {
- /// <summary> Timestamp (milliseconds since system boot) </summary>
- public UInt32 time_boot_ms;
- /// <summary> X acceleration (mg) </summary>
- public Int16 xacc;
- /// <summary> Y acceleration (mg) </summary>
- public Int16 yacc;
- /// <summary> Z acceleration (mg) </summary>
- public Int16 zacc;
- /// <summary> Angular speed around X axis (millirad /sec) </summary>
- public Int16 xgyro;
- /// <summary> Angular speed around Y axis (millirad /sec) </summary>
- public Int16 ygyro;
- /// <summary> Angular speed around Z axis (millirad /sec) </summary>
- public Int16 zgyro;
- /// <summary> X Magnetic field (milli tesla) </summary>
- public Int16 xmag;
- /// <summary> Y Magnetic field (milli tesla) </summary>
- public Int16 ymag;
- /// <summary> Z Magnetic field (milli tesla) </summary>
- public Int16 zmag;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_RAW_IMU = 27;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=26)]
- public struct mavlink_raw_imu_t
- {
- /// <summary> Timestamp (microseconds since UNIX epoch or microseconds since system boot) </summary>
- public UInt64 time_usec;
- /// <summary> X acceleration (raw) </summary>
- public Int16 xacc;
- /// <summary> Y acceleration (raw) </summary>
- public Int16 yacc;
- /// <summary> Z acceleration (raw) </summary>
- public Int16 zacc;
- /// <summary> Angular speed around X axis (raw) </summary>
- public Int16 xgyro;
- /// <summary> Angular speed around Y axis (raw) </summary>
- public Int16 ygyro;
- /// <summary> Angular speed around Z axis (raw) </summary>
- public Int16 zgyro;
- /// <summary> X Magnetic field (raw) </summary>
- public Int16 xmag;
- /// <summary> Y Magnetic field (raw) </summary>
- public Int16 ymag;
- /// <summary> Z Magnetic field (raw) </summary>
- public Int16 zmag;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_RAW_PRESSURE = 28;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=16)]
- public struct mavlink_raw_pressure_t
- {
- /// <summary> Timestamp (microseconds since UNIX epoch or microseconds since system boot) </summary>
- public UInt64 time_usec;
- /// <summary> Absolute pressure (raw) </summary>
- public Int16 press_abs;
- /// <summary> Differential pressure 1 (raw) </summary>
- public Int16 press_diff1;
- /// <summary> Differential pressure 2 (raw) </summary>
- public Int16 press_diff2;
- /// <summary> Raw Temperature measurement (raw) </summary>
- public Int16 temperature;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_SCALED_PRESSURE = 29;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=14)]
- public struct mavlink_scaled_pressure_t
- {
- /// <summary> Timestamp (microseconds since UNIX epoch or microseconds since system boot) </summary>
- public UInt32 time_boot_ms;
- /// <summary> Absolute pressure (hectopascal) </summary>
- public Single press_abs;
- /// <summary> Differential pressure 1 (hectopascal) </summary>
- public Single press_diff;
- /// <summary> Temperature measurement (0.01 degrees celsius) </summary>
- public Int16 temperature;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_ATTITUDE = 30;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=28)]
- public struct mavlink_attitude_t
- {
- /// <summary> Timestamp (milliseconds since system boot) </summary>
- public UInt32 time_boot_ms;
- /// <summary> Roll angle (rad) </summary>
- public Single roll;
- /// <summary> Pitch angle (rad) </summary>
- public Single pitch;
- /// <summary> Yaw angle (rad) </summary>
- public Single yaw;
- /// <summary> Roll angular speed (rad/s) </summary>
- public Single rollspeed;
- /// <summary> Pitch angular speed (rad/s) </summary>
- public Single pitchspeed;
- /// <summary> Yaw angular speed (rad/s) </summary>
- public Single yawspeed;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_ATTITUDE_QUATERNION = 31;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=32)]
- public struct mavlink_attitude_quaternion_t
- {
- /// <summary> Timestamp (milliseconds since system boot) </summary>
- public UInt32 time_boot_ms;
- /// <summary> Quaternion component 1 </summary>
- public Single q1;
- /// <summary> Quaternion component 2 </summary>
- public Single q2;
- /// <summary> Quaternion component 3 </summary>
- public Single q3;
- /// <summary> Quaternion component 4 </summary>
- public Single q4;
- /// <summary> Roll angular speed (rad/s) </summary>
- public Single rollspeed;
- /// <summary> Pitch angular speed (rad/s) </summary>
- public Single pitchspeed;
- /// <summary> Yaw angular speed (rad/s) </summary>
- public Single yawspeed;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_LOCAL_POSITION_NED = 32;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=28)]
- public struct mavlink_local_position_ned_t
- {
- /// <summary> Timestamp (milliseconds since system boot) </summary>
- public UInt32 time_boot_ms;
- /// <summary> X Position </summary>
- public Single x;
- /// <summary> Y Position </summary>
- public Single y;
- /// <summary> Z Position </summary>
- public Single z;
- /// <summary> X Speed </summary>
- public Single vx;
- /// <summary> Y Speed </summary>
- public Single vy;
- /// <summary> Z Speed </summary>
- public Single vz;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_GLOBAL_POSITION_INT = 33;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=28)]
- public struct mavlink_global_position_int_t
- {
- /// <summary> Timestamp (milliseconds since system boot) </summary>
- public UInt32 time_boot_ms;
- /// <summary> Latitude, expressed as * 1E7 </summary>
- public Int32 lat;
- /// <summary> Longitude, expressed as * 1E7 </summary>
- public Int32 lon;
- /// <summary> Altitude in meters, expressed as * 1000 (millimeters), above MSL </summary>
- public Int32 alt;
- /// <summary> Altitude above ground in meters, expressed as * 1000 (millimeters) </summary>
- public Int32 relative_alt;
- /// <summary> Ground X Speed (Latitude), expressed as m/s * 100 </summary>
- public Int16 vx;
- /// <summary> Ground Y Speed (Longitude), expressed as m/s * 100 </summary>
- public Int16 vy;
- /// <summary> Ground Z Speed (Altitude), expressed as m/s * 100 </summary>
- public Int16 vz;
- /// <summary> Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 </summary>
- public UInt16 hdg;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_RC_CHANNELS_SCALED = 34;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=22)]
- public struct mavlink_rc_channels_scaled_t
- {
- /// <summary> Timestamp (milliseconds since system boot) </summary>
- public UInt32 time_boot_ms;
- /// <summary> RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 </summary>
- public Int16 chan1_scaled;
- /// <summary> RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 </summary>
- public Int16 chan2_scaled;
- /// <summary> RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 </summary>
- public Int16 chan3_scaled;
- /// <summary> RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 </summary>
- public Int16 chan4_scaled;
- /// <summary> RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 </summary>
- public Int16 chan5_scaled;
- /// <summary> RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 </summary>
- public Int16 chan6_scaled;
- /// <summary> RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 </summary>
- public Int16 chan7_scaled;
- /// <summary> RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 </summary>
- public Int16 chan8_scaled;
- /// <summary> Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. </summary>
- public byte port;
- /// <summary> Receive signal strength indicator, 0: 0%, 255: 100% </summary>
- public byte rssi;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_RC_CHANNELS_RAW = 35;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=22)]
- public struct mavlink_rc_channels_raw_t
- {
- /// <summary> Timestamp (milliseconds since system boot) </summary>
- public UInt32 time_boot_ms;
- /// <summary> RC channel 1 value, in microseconds </summary>
- public UInt16 chan1_raw;
- /// <summary> RC channel 2 value, in microseconds </summary>
- public UInt16 chan2_raw;
- /// <summary> RC channel 3 value, in microseconds </summary>
- public UInt16 chan3_raw;
- /// <summary> RC channel 4 value, in microseconds </summary>
- public UInt16 chan4_raw;
- /// <summary> RC channel 5 value, in microseconds </summary>
- public UInt16 chan5_raw;
- /// <summary> RC channel 6 value, in microseconds </summary>
- public UInt16 chan6_raw;
- /// <summary> RC channel 7 value, in microseconds </summary>
- public UInt16 chan7_raw;
- /// <summary> RC channel 8 value, in microseconds </summary>
- public UInt16 chan8_raw;
- /// <summary> Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. </summary>
- public byte port;
- /// <summary> Receive signal strength indicator, 0: 0%, 255: 100% </summary>
- public byte rssi;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_SERVO_OUTPUT_RAW = 36;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=21)]
- public struct mavlink_servo_output_raw_t
- {
- /// <summary> Timestamp (since UNIX epoch or microseconds since system boot) </summary>
- public UInt32 time_usec;
- /// <summary> Servo output 1 value, in microseconds </summary>
- public UInt16 servo1_raw;
- /// <summary> Servo output 2 value, in microseconds </summary>
- public UInt16 servo2_raw;
- /// <summary> Servo output 3 value, in microseconds </summary>
- public UInt16 servo3_raw;
- /// <summary> Servo output 4 value, in microseconds </summary>
- public UInt16 servo4_raw;
- /// <summary> Servo output 5 value, in microseconds </summary>
- public UInt16 servo5_raw;
- /// <summary> Servo output 6 value, in microseconds </summary>
- public UInt16 servo6_raw;
- /// <summary> Servo output 7 value, in microseconds </summary>
- public UInt16 servo7_raw;
- /// <summary> Servo output 8 value, in microseconds </summary>
- public UInt16 servo8_raw;
- /// <summary> Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. </summary>
- public byte port;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST = 37;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=6)]
- public struct mavlink_mission_request_partial_list_t
- {
- /// <summary> Start index, 0 by default </summary>
- public Int16 start_index;
- /// <summary> End index, -1 by default (-1: send list to end). Else a valid index of the list </summary>
- public Int16 end_index;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST = 38;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=6)]
- public struct mavlink_mission_write_partial_list_t
- {
- /// <summary> Start index, 0 by default and smaller / equal to the largest index of the current onboard list. </summary>
- public Int16 start_index;
- /// <summary> End index, equal or greater than start index. </summary>
- public Int16 end_index;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MISSION_ITEM = 39;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=37)]
- public struct mavlink_mission_item_t
- {
- /// <summary> PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters </summary>
- public Single param1;
- /// <summary> PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds </summary>
- public Single param2;
- /// <summary> 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. </summary>
- public Single param3;
- /// <summary> PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH </summary>
- public Single param4;
- /// <summary> PARAM5 / local: x position, global: latitude </summary>
- public Single x;
- /// <summary> PARAM6 / y position: global: longitude </summary>
- public Single y;
- /// <summary> PARAM7 / z position: global: altitude </summary>
- public Single z;
- /// <summary> Sequence </summary>
- public UInt16 seq;
- /// <summary> The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs </summary>
- public UInt16 command;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
- /// <summary> The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h </summary>
- public byte frame;
- /// <summary> false:0, true:1 </summary>
- public byte current;
- /// <summary> autocontinue to next wp </summary>
- public byte autocontinue;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MISSION_REQUEST = 40;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=4)]
- public struct mavlink_mission_request_t
- {
- /// <summary> Sequence </summary>
- public UInt16 seq;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MISSION_SET_CURRENT = 41;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=4)]
- public struct mavlink_mission_set_current_t
- {
- /// <summary> Sequence </summary>
- public UInt16 seq;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MISSION_CURRENT = 42;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=2)]
- public struct mavlink_mission_current_t
- {
- /// <summary> Sequence </summary>
- public UInt16 seq;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MISSION_REQUEST_LIST = 43;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=2)]
- public struct mavlink_mission_request_list_t
- {
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MISSION_COUNT = 44;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=4)]
- public struct mavlink_mission_count_t
- {
- /// <summary> Number of mission items in the sequence </summary>
- public UInt16 count;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MISSION_CLEAR_ALL = 45;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=2)]
- public struct mavlink_mission_clear_all_t
- {
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MISSION_ITEM_REACHED = 46;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=2)]
- public struct mavlink_mission_item_reached_t
- {
- /// <summary> Sequence </summary>
- public UInt16 seq;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MISSION_ACK = 47;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=3)]
- public struct mavlink_mission_ack_t
- {
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
- /// <summary> See MAV_MISSION_RESULT enum </summary>
- public byte type;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN = 48;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=13)]
- public struct mavlink_set_gps_global_origin_t
- {
- /// <summary> global position * 1E7 </summary>
- public Int32 latitude;
- /// <summary> global position * 1E7 </summary>
- public Int32 longitude;
- /// <summary> global position * 1000 </summary>
- public Int32 altitude;
- /// <summary> System ID </summary>
- public byte target_system;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN = 49;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=12)]
- public struct mavlink_gps_global_origin_t
- {
- /// <summary> Latitude (WGS84), expressed as * 1E7 </summary>
- public Int32 latitude;
- /// <summary> Longitude (WGS84), expressed as * 1E7 </summary>
- public Int32 longitude;
- /// <summary> Altitude(WGS84), expressed as * 1000 </summary>
- public Int32 altitude;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT = 50;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=19)]
- public struct mavlink_set_local_position_setpoint_t
- {
- /// <summary> x position </summary>
- public Single x;
- /// <summary> y position </summary>
- public Single y;
- /// <summary> z position </summary>
- public Single z;
- /// <summary> Desired yaw angle </summary>
- public Single yaw;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
- /// <summary> Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU </summary>
- public byte coordinate_frame;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT = 51;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=17)]
- public struct mavlink_local_position_setpoint_t
- {
- /// <summary> x position </summary>
- public Single x;
- /// <summary> y position </summary>
- public Single y;
- /// <summary> z position </summary>
- public Single z;
- /// <summary> Desired yaw angle </summary>
- public Single yaw;
- /// <summary> Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU </summary>
- public byte coordinate_frame;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT = 52;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=15)]
- public struct mavlink_global_position_setpoint_int_t
- {
- /// <summary> WGS84 Latitude position in degrees * 1E7 </summary>
- public Int32 latitude;
- /// <summary> WGS84 Longitude position in degrees * 1E7 </summary>
- public Int32 longitude;
- /// <summary> WGS84 Altitude in meters * 1000 (positive for up) </summary>
- public Int32 altitude;
- /// <summary> Desired yaw angle in degrees * 100 </summary>
- public Int16 yaw;
- /// <summary> Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT </summary>
- public byte coordinate_frame;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT = 53;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=15)]
- public struct mavlink_set_global_position_setpoint_int_t
- {
- /// <summary> WGS84 Latitude position in degrees * 1E7 </summary>
- public Int32 latitude;
- /// <summary> WGS84 Longitude position in degrees * 1E7 </summary>
- public Int32 longitude;
- /// <summary> WGS84 Altitude in meters * 1000 (positive for up) </summary>
- public Int32 altitude;
- /// <summary> Desired yaw angle in degrees * 100 </summary>
- public Int16 yaw;
- /// <summary> Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT </summary>
- public byte coordinate_frame;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA = 54;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=27)]
- public struct mavlink_safety_set_allowed_area_t
- {
- /// <summary> x position 1 / Latitude 1 </summary>
- public Single p1x;
- /// <summary> y position 1 / Longitude 1 </summary>
- public Single p1y;
- /// <summary> z position 1 / Altitude 1 </summary>
- public Single p1z;
- /// <summary> x position 2 / Latitude 2 </summary>
- public Single p2x;
- /// <summary> y position 2 / Longitude 2 </summary>
- public Single p2y;
- /// <summary> z position 2 / Altitude 2 </summary>
- public Single p2z;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
- /// <summary> 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. </summary>
- public byte frame;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA = 55;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=25)]
- public struct mavlink_safety_allowed_area_t
- {
- /// <summary> x position 1 / Latitude 1 </summary>
- public Single p1x;
- /// <summary> y position 1 / Longitude 1 </summary>
- public Single p1y;
- /// <summary> z position 1 / Altitude 1 </summary>
- public Single p1z;
- /// <summary> x position 2 / Latitude 2 </summary>
- public Single p2x;
- /// <summary> y position 2 / Longitude 2 </summary>
- public Single p2y;
- /// <summary> z position 2 / Altitude 2 </summary>
- public Single p2z;
- /// <summary> 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. </summary>
- public byte frame;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST = 56;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=18)]
- public struct mavlink_set_roll_pitch_yaw_thrust_t
- {
- /// <summary> Desired roll angle in radians </summary>
- public Single roll;
- /// <summary> Desired pitch angle in radians </summary>
- public Single pitch;
- /// <summary> Desired yaw angle in radians </summary>
- public Single yaw;
- /// <summary> Collective thrust, normalized to 0 .. 1 </summary>
- public Single thrust;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST = 57;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=18)]
- public struct mavlink_set_roll_pitch_yaw_speed_thrust_t
- {
- /// <summary> Desired roll angular speed in rad/s </summary>
- public Single roll_speed;
- /// <summary> Desired pitch angular speed in rad/s </summary>
- public Single pitch_speed;
- /// <summary> Desired yaw angular speed in rad/s </summary>
- public Single yaw_speed;
- /// <summary> Collective thrust, normalized to 0 .. 1 </summary>
- public Single thrust;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT = 58;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=20)]
- public struct mavlink_roll_pitch_yaw_thrust_setpoint_t
- {
- /// <summary> Timestamp in milliseconds since system boot </summary>
- public UInt32 time_boot_ms;
- /// <summary> Desired roll angle in radians </summary>
- public Single roll;
- /// <summary> Desired pitch angle in radians </summary>
- public Single pitch;
- /// <summary> Desired yaw angle in radians </summary>
- public Single yaw;
- /// <summary> Collective thrust, normalized to 0 .. 1 </summary>
- public Single thrust;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT = 59;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=20)]
- public struct mavlink_roll_pitch_yaw_speed_thrust_setpoint_t
- {
- /// <summary> Timestamp in milliseconds since system boot </summary>
- public UInt32 time_boot_ms;
- /// <summary> Desired roll angular speed in rad/s </summary>
- public Single roll_speed;
- /// <summary> Desired pitch angular speed in rad/s </summary>
- public Single pitch_speed;
- /// <summary> Desired yaw angular speed in rad/s </summary>
- public Single yaw_speed;
- /// <summary> Collective thrust, normalized to 0 .. 1 </summary>
- public Single thrust;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT = 62;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=26)]
- public struct mavlink_nav_controller_output_t
- {
- /// <summary> Current desired roll in degrees </summary>
- public Single nav_roll;
- /// <summary> Current desired pitch in degrees </summary>
- public Single nav_pitch;
- /// <summary> Current altitude error in meters </summary>
- public Single alt_error;
- /// <summary> Current airspeed error in meters/second </summary>
- public Single aspd_error;
- /// <summary> Current crosstrack error on x-y plane in meters </summary>
- public Single xtrack_error;
- /// <summary> Current desired heading in degrees </summary>
- public Int16 nav_bearing;
- /// <summary> Bearing to current MISSION/target in degrees </summary>
- public Int16 target_bearing;
- /// <summary> Distance to active MISSION in meters </summary>
- public UInt16 wp_dist;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_STATE_CORRECTION = 64;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=36)]
- public struct mavlink_state_correction_t
- {
- /// <summary> x position error </summary>
- public Single xErr;
- /// <summary> y position error </summary>
- public Single yErr;
- /// <summary> z position error </summary>
- public Single zErr;
- /// <summary> roll error (radians) </summary>
- public Single rollErr;
- /// <summary> pitch error (radians) </summary>
- public Single pitchErr;
- /// <summary> yaw error (radians) </summary>
- public Single yawErr;
- /// <summary> x velocity </summary>
- public Single vxErr;
- /// <summary> y velocity </summary>
- public Single vyErr;
- /// <summary> z velocity </summary>
- public Single vzErr;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_REQUEST_DATA_STREAM = 66;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=6)]
- public struct mavlink_request_data_stream_t
- {
- /// <summary> The requested interval between two messages of this type </summary>
- public UInt16 req_message_rate;
- /// <summary> The target requested to send the message stream. </summary>
- public byte target_system;
- /// <summary> The target requested to send the message stream. </summary>
- public byte target_component;
- /// <summary> The ID of the requested data stream </summary>
- public byte req_stream_id;
- /// <summary> 1 to start sending, 0 to stop sending. </summary>
- public byte start_stop;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_DATA_STREAM = 67;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=4)]
- public struct mavlink_data_stream_t
- {
- /// <summary> The requested interval between two messages of this type </summary>
- public UInt16 message_rate;
- /// <summary> The ID of the requested data stream </summary>
- public byte stream_id;
- /// <summary> 1 stream is enabled, 0 stream is stopped. </summary>
- public byte on_off;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MANUAL_CONTROL = 69;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=21)]
- public struct mavlink_manual_control_t
- {
- /// <summary> roll </summary>
- public Single roll;
- /// <summary> pitch </summary>
- public Single pitch;
- /// <summary> yaw </summary>
- public Single yaw;
- /// <summary> thrust </summary>
- public Single thrust;
- /// <summary> The system to be controlled </summary>
- public byte target;
- /// <summary> roll control enabled auto:0, manual:1 </summary>
- public byte roll_manual;
- /// <summary> pitch auto:0, manual:1 </summary>
- public byte pitch_manual;
- /// <summary> yaw auto:0, manual:1 </summary>
- public byte yaw_manual;
- /// <summary> thrust auto:0, manual:1 </summary>
- public byte thrust_manual;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE = 70;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=18)]
- public struct mavlink_rc_channels_override_t
- {
- /// <summary> RC channel 1 value, in microseconds </summary>
- public UInt16 chan1_raw;
- /// <summary> RC channel 2 value, in microseconds </summary>
- public UInt16 chan2_raw;
- /// <summary> RC channel 3 value, in microseconds </summary>
- public UInt16 chan3_raw;
- /// <summary> RC channel 4 value, in microseconds </summary>
- public UInt16 chan4_raw;
- /// <summary> RC channel 5 value, in microseconds </summary>
- public UInt16 chan5_raw;
- /// <summary> RC channel 6 value, in microseconds </summary>
- public UInt16 chan6_raw;
- /// <summary> RC channel 7 value, in microseconds </summary>
- public UInt16 chan7_raw;
- /// <summary> RC channel 8 value, in microseconds </summary>
- public UInt16 chan8_raw;
- /// <summary> System ID </summary>
- public byte target_system;
- /// <summary> Component ID </summary>
- public byte target_component;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_VFR_HUD = 74;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=20)]
- public struct mavlink_vfr_hud_t
- {
- /// <summary> Current airspeed in m/s </summary>
- public Single airspeed;
- /// <summary> Current ground speed in m/s </summary>
- public Single groundspeed;
- /// <summary> Current altitude (MSL), in meters </summary>
- public Single alt;
- /// <summary> Current climb rate in meters/second </summary>
- public Single climb;
- /// <summary> Current heading in degrees, in compass units (0..360, 0=north) </summary>
- public Int16 heading;
- /// <summary> Current throttle setting in integer percent, 0 to 100 </summary>
- public UInt16 throttle;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_COMMAND_LONG = 76;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=33)]
- public struct mavlink_command_long_t
- {
- /// <summary> Parameter 1, as defined by MAV_CMD enum. </summary>
- public Single param1;
- /// <summary> Parameter 2, as defined by MAV_CMD enum. </summary>
- public Single param2;
- /// <summary> Parameter 3, as defined by MAV_CMD enum. </summary>
- public Single param3;
- /// <summary> Parameter 4, as defined by MAV_CMD enum. </summary>
- public Single param4;
- /// <summary> Parameter 5, as defined by MAV_CMD enum. </summary>
- public Single param5;
- /// <summary> Parameter 6, as defined by MAV_CMD enum. </summary>
- public Single param6;
- /// <summary> Parameter 7, as defined by MAV_CMD enum. </summary>
- public Single param7;
- /// <summary> Command ID, as defined by MAV_CMD enum. </summary>
- public UInt16 command;
- /// <summary> System which should execute the command </summary>
- public byte target_system;
- /// <summary> Component which should execute the command, 0 for all components </summary>
- public byte target_component;
- /// <summary> 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) </summary>
- public byte confirmation;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_COMMAND_ACK = 77;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=3)]
- public struct mavlink_command_ack_t
- {
- /// <summary> Command ID, as defined by MAV_CMD enum. </summary>
- public UInt16 command;
- /// <summary> See MAV_RESULT enum </summary>
- public byte result;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_HIL_STATE = 90;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=56)]
- public struct mavlink_hil_state_t
- {
- /// <summary> Timestamp (microseconds since UNIX epoch or microseconds since system boot) </summary>
- public UInt64 time_usec;
- /// <summary> Roll angle (rad) </summary>
- public Single roll;
- /// <summary> Pitch angle (rad) </summary>
- public Single pitch;
- /// <summary> Yaw angle (rad) </summary>
- public Single yaw;
- /// <summary> Roll angular speed (rad/s) </summary>
- public Single rollspeed;
- /// <summary> Pitch angular speed (rad/s) </summary>
- public Single pitchspeed;
- /// <summary> Yaw angular speed (rad/s) </summary>
- public Single yawspeed;
- /// <summary> Latitude, expressed as * 1E7 </summary>
- public Int32 lat;
- /// <summary> Longitude, expressed as * 1E7 </summary>
- public Int32 lon;
- /// <summary> Altitude in meters, expressed as * 1000 (millimeters) </summary>
- public Int32 alt;
- /// <summary> Ground X Speed (Latitude), expressed as m/s * 100 </summary>
- public Int16 vx;
- /// <summary> Ground Y Speed (Longitude), expressed as m/s * 100 </summary>
- public Int16 vy;
- /// <summary> Ground Z Speed (Altitude), expressed as m/s * 100 </summary>
- public Int16 vz;
- /// <summary> X acceleration (mg) </summary>
- public Int16 xacc;
- /// <summary> Y acceleration (mg) </summary>
- public Int16 yacc;
- /// <summary> Z acceleration (mg) </summary>
- public Int16 zacc;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_HIL_CONTROLS = 91;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=42)]
- public struct mavlink_hil_controls_t
- {
- /// <summary> Timestamp (microseconds since UNIX epoch or microseconds since system boot) </summary>
- public UInt64 time_usec;
- /// <summary> Control output -1 .. 1 </summary>
- public Single roll_ailerons;
- /// <summary> Control output -1 .. 1 </summary>
- public Single pitch_elevator;
- /// <summary> Control output -1 .. 1 </summary>
- public Single yaw_rudder;
- /// <summary> Throttle 0 .. 1 </summary>
- public Single throttle;
- /// <summary> Aux 1, -1 .. 1 </summary>
- public Single aux1;
- /// <summary> Aux 2, -1 .. 1 </summary>
- public Single aux2;
- /// <summary> Aux 3, -1 .. 1 </summary>
- public Single aux3;
- /// <summary> Aux 4, -1 .. 1 </summary>
- public Single aux4;
- /// <summary> System mode (MAV_MODE) </summary>
- public byte mode;
- /// <summary> Navigation mode (MAV_NAV_MODE) </summary>
- public byte nav_mode;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW = 92;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=33)]
- public struct mavlink_hil_rc_inputs_raw_t
- {
- /// <summary> Timestamp (microseconds since UNIX epoch or microseconds since system boot) </summary>
- public UInt64 time_usec;
- /// <summary> RC channel 1 value, in microseconds </summary>
- public UInt16 chan1_raw;
- /// <summary> RC channel 2 value, in microseconds </summary>
- public UInt16 chan2_raw;
- /// <summary> RC channel 3 value, in microseconds </summary>
- public UInt16 chan3_raw;
- /// <summary> RC channel 4 value, in microseconds </summary>
- public UInt16 chan4_raw;
- /// <summary> RC channel 5 value, in microseconds </summary>
- public UInt16 chan5_raw;
- /// <summary> RC channel 6 value, in microseconds </summary>
- public UInt16 chan6_raw;
- /// <summary> RC channel 7 value, in microseconds </summary>
- public UInt16 chan7_raw;
- /// <summary> RC channel 8 value, in microseconds </summary>
- public UInt16 chan8_raw;
- /// <summary> RC channel 9 value, in microseconds </summary>
- public UInt16 chan9_raw;
- /// <summary> RC channel 10 value, in microseconds </summary>
- public UInt16 chan10_raw;
- /// <summary> RC channel 11 value, in microseconds </summary>
- public UInt16 chan11_raw;
- /// <summary> RC channel 12 value, in microseconds </summary>
- public UInt16 chan12_raw;
- /// <summary> Receive signal strength indicator, 0: 0%, 255: 100% </summary>
- public byte rssi;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_OPTICAL_FLOW = 100;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=18)]
- public struct mavlink_optical_flow_t
- {
- /// <summary> Timestamp (UNIX) </summary>
- public UInt64 time_usec;
- /// <summary> Ground distance in meters </summary>
- public Single ground_distance;
- /// <summary> Flow in pixels in x-sensor direction </summary>
- public Int16 flow_x;
- /// <summary> Flow in pixels in y-sensor direction </summary>
- public Int16 flow_y;
- /// <summary> Sensor ID </summary>
- public byte sensor_id;
- /// <summary> Optical flow quality / confidence. 0: bad, 255: maximum quality </summary>
- public byte quality;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE = 101;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=32)]
- public struct mavlink_global_vision_position_estimate_t
- {
- /// <summary> Timestamp (milliseconds) </summary>
- public UInt64 usec;
- /// <summary> Global X position </summary>
- public Single x;
- /// <summary> Global Y position </summary>
- public Single y;
- /// <summary> Global Z position </summary>
- public Single z;
- /// <summary> Roll angle in rad </summary>
- public Single roll;
- /// <summary> Pitch angle in rad </summary>
- public Single pitch;
- /// <summary> Yaw angle in rad </summary>
- public Single yaw;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE = 102;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=32)]
- public struct mavlink_vision_position_estimate_t
- {
- /// <summary> Timestamp (milliseconds) </summary>
- public UInt64 usec;
- /// <summary> Global X position </summary>
- public Single x;
- /// <summary> Global Y position </summary>
- public Single y;
- /// <summary> Global Z position </summary>
- public Single z;
- /// <summary> Roll angle in rad </summary>
- public Single roll;
- /// <summary> Pitch angle in rad </summary>
- public Single pitch;
- /// <summary> Yaw angle in rad </summary>
- public Single yaw;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE = 103;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=20)]
- public struct mavlink_vision_speed_estimate_t
- {
- /// <summary> Timestamp (milliseconds) </summary>
- public UInt64 usec;
- /// <summary> Global X speed </summary>
- public Single x;
- /// <summary> Global Y speed </summary>
- public Single y;
- /// <summary> Global Z speed </summary>
- public Single z;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE = 104;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=32)]
- public struct mavlink_vicon_position_estimate_t
- {
- /// <summary> Timestamp (milliseconds) </summary>
- public UInt64 usec;
- /// <summary> Global X position </summary>
- public Single x;
- /// <summary> Global Y position </summary>
- public Single y;
- /// <summary> Global Z position </summary>
- public Single z;
- /// <summary> Roll angle in rad </summary>
- public Single roll;
- /// <summary> Pitch angle in rad </summary>
- public Single pitch;
- /// <summary> Yaw angle in rad </summary>
- public Single yaw;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_MEMORY_VECT = 249;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=36)]
- public struct mavlink_memory_vect_t
- {
- /// <summary> Starting address of the debug variables </summary>
- public UInt16 address;
- /// <summary> Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below </summary>
- public byte ver;
- /// <summary> 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 </summary>
- public byte type;
- /// <summary> Memory contents at specified address </summary>
- [MarshalAs(UnmanagedType.ByValArray,SizeConst=32)]
- public byte[] value;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_DEBUG_VECT = 250;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=30)]
- public struct mavlink_debug_vect_t
- {
- /// <summary> Timestamp </summary>
- public UInt64 time_usec;
- /// <summary> x </summary>
- public Single x;
- /// <summary> y </summary>
- public Single y;
- /// <summary> z </summary>
- public Single z;
- /// <summary> Name </summary>
- [MarshalAs(UnmanagedType.ByValArray,SizeConst=10)]
- public string name;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_NAMED_VALUE_FLOAT = 251;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=18)]
- public struct mavlink_named_value_float_t
- {
- /// <summary> Timestamp (milliseconds since system boot) </summary>
- public UInt32 time_boot_ms;
- /// <summary> Floating point value </summary>
- public Single value;
- /// <summary> Name of the debug variable </summary>
- [MarshalAs(UnmanagedType.ByValArray,SizeConst=10)]
- public string name;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_NAMED_VALUE_INT = 252;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=18)]
- public struct mavlink_named_value_int_t
- {
- /// <summary> Timestamp (milliseconds since system boot) </summary>
- public UInt32 time_boot_ms;
- /// <summary> Signed integer value </summary>
- public Int32 value;
- /// <summary> Name of the debug variable </summary>
- [MarshalAs(UnmanagedType.ByValArray,SizeConst=10)]
- public string name;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_STATUSTEXT = 253;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=51)]
- public struct mavlink_statustext_t
- {
- /// <summary> Severity of status, 0 = info message, 255 = critical fault </summary>
- public byte severity;
- /// <summary> Status text message, without null termination character </summary>
- [MarshalAs(UnmanagedType.ByValArray,SizeConst=50)]
- public string text;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_DEBUG = 254;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=9)]
- public struct mavlink_debug_t
- {
- /// <summary> Timestamp (milliseconds since system boot) </summary>
- public UInt32 time_boot_ms;
- /// <summary> DEBUG value </summary>
- public Single value;
- /// <summary> index of debug variable </summary>
- public byte ind;
-
- };
-
-
- public const byte MAVLINK_MSG_ID_EXTENDED_MESSAGE = 255;
- [StructLayout(LayoutKind.Sequential,Pack=1,Size=3)]
- public struct mavlink_extended_message_t
- {
- /// <summary> System which should execute the command </summary>
- public byte target_system;
- /// <summary> Component which should execute the command, 0 for all components </summary>
- public byte target_component;
- /// <summary> Retransmission / ACK flags </summary>
- public byte protocol_flags;
-
- };
-
- }
-#endif
-}
+using System;
+using System.Collections.Generic;
+using System.Text;
+using System.Runtime.InteropServices;
+
+namespace ArdupilotMega
+{
+ #if MAVLINK10
+ partial class MAVLink
+ {
+ public const string MAVLINK_BUILD_DATE = "Fri Apr 6 21:11:00 2012";
+ public const string MAVLINK_WIRE_PROTOCOL_VERSION = "1.0";
+ public const int MAVLINK_MAX_DIALECT_PAYLOAD_SIZE = 42;
+
+ public const int MAVLINK_LITTLE_ENDIAN = 1;
+ public const int MAVLINK_BIG_ENDIAN = 0;
+
+ public const byte MAVLINK_STX = 254;
+
+ public const byte MAVLINK_ENDIAN = MAVLINK_LITTLE_ENDIAN;
+
+ public const bool MAVLINK_ALIGNED_FIELDS = (1 == 1);
+
+ public const byte MAVLINK_CRC_EXTRA = 1;
+
+ public const bool MAVLINK_NEED_BYTE_SWAP = (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN);
+
+ public byte[] MAVLINK_MESSAGE_LENGTHS = new byte[] {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 0, 0, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 36, 3, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 3};
+
+ public byte[] MAVLINK_MESSAGE_CRCS = new byte[] {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 0, 0, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 42, 21, 244, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 247};
+
+ public Type[] MAVLINK_MESSAGE_INFO = new Type[] {typeof( mavlink_heartbeat_t ), typeof( mavlink_sys_status_t ), typeof( mavlink_system_time_t ), null, typeof( mavlink_ping_t ), typeof( mavlink_change_operator_control_t ), typeof( mavlink_change_operator_control_ack_t ), typeof( mavlink_auth_key_t ), null, null, null, typeof( mavlink_set_mode_t ), null, null, null, null, null, null, null, null, typeof( mavlink_param_request_read_t ), typeof( mavlink_param_request_list_t ), typeof( mavlink_param_value_t ), typeof( mavlink_param_set_t ), typeof( mavlink_gps_raw_int_t ), typeof( mavlink_gps_status_t ), typeof( mavlink_scaled_imu_t ), typeof( mavlink_raw_imu_t ), typeof( mavlink_raw_pressure_t ), typeof( mavlink_scaled_pressure_t ), typeof( mavlink_attitude_t ), typeof( mavlink_attitude_quaternion_t ), typeof( mavlink_local_position_ned_t ), typeof( mavlink_global_position_int_t ), typeof( mavlink_rc_channels_scaled_t ), typeof( mavlink_rc_channels_raw_t ), typeof( mavlink_servo_output_raw_t ), typeof( mavlink_mission_request_partial_list_t ), typeof( mavlink_mission_write_partial_list_t ), typeof( mavlink_mission_item_t ), typeof( mavlink_mission_request_t ), typeof( mavlink_mission_set_current_t ), typeof( mavlink_mission_current_t ), typeof( mavlink_mission_request_list_t ), typeof( mavlink_mission_count_t ), typeof( mavlink_mission_clear_all_t ), typeof( mavlink_mission_item_reached_t ), typeof( mavlink_mission_ack_t ), typeof( mavlink_set_gps_global_origin_t ), typeof( mavlink_gps_global_origin_t ), typeof( mavlink_set_local_position_setpoint_t ), typeof( mavlink_local_position_setpoint_t ), typeof( mavlink_global_position_setpoint_int_t ), typeof( mavlink_set_global_position_setpoint_int_t ), typeof( mavlink_safety_set_allowed_area_t ), typeof( mavlink_safety_allowed_area_t ), typeof( mavlink_set_roll_pitch_yaw_thrust_t ), typeof( mavlink_set_roll_pitch_yaw_speed_thrust_t ), typeof( mavlink_roll_pitch_yaw_thrust_setpoint_t ), typeof( mavlink_roll_pitch_yaw_speed_thrust_setpoint_t ), null, null, typeof( mavlink_nav_controller_output_t ), null, typeof( mavlink_state_correction_t ), null, typeof( mavlink_request_data_stream_t ), typeof( mavlink_data_stream_t ), null, typeof( mavlink_manual_control_t ), typeof( mavlink_rc_channels_override_t ), null, null, null, typeof( mavlink_vfr_hud_t ), null, typeof( mavlink_command_long_t ), typeof( mavlink_command_ack_t ), null, null, null, null, null, null, null, null, null, null, null, null, typeof( mavlink_hil_state_t ), typeof( mavlink_hil_controls_t ), typeof( mavlink_hil_rc_inputs_raw_t ), null, null, null, null, null, null, null, typeof( mavlink_optical_flow_t ), typeof( mavlink_global_vision_position_estimate_t ), typeof( mavlink_vision_position_estimate_t ), typeof( mavlink_vision_speed_estimate_t ), typeof( mavlink_vicon_position_estimate_t ), null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, typeof( mavlink_sensor_offsets_t ), typeof( mavlink_set_mag_offsets_t ), typeof( mavlink_meminfo_t ), typeof( mavlink_ap_adc_t ), typeof( mavlink_digicam_configure_t ), typeof( mavlink_digicam_control_t ), typeof( mavlink_mount_configure_t ), typeof( mavlink_mount_control_t ), typeof( mavlink_mount_status_t ), null, typeof( mavlink_fence_point_t ), typeof( mavlink_fence_fetch_point_t ), typeof( mavlink_fence_status_t ), typeof( mavlink_ahrs_t ), typeof( mavlink_simstate_t ), typeof( mavlink_hwstatus_t ), typeof( mavlink_radio_t ), null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, typeof( mavlink_memory_vect_t ), typeof( mavlink_debug_vect_t ), typeof( mavlink_named_value_float_t ), typeof( mavlink_named_value_int_t ), typeof( mavlink_statustext_t ), typeof( mavlink_debug_t ), typeof( mavlink_extended_message_t )};
+
+ public const byte MAVLINK_VERSION = 2;
+
+
+ /** @brief Enumeration of possible mount operation modes */
+ public enum MAV_MOUNT_MODE
+ {
+ ///<summary> Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization | </summary>
+ RETRACT=0,
+ ///<summary> Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM. | </summary>
+ NEUTRAL=1,
+ ///<summary> Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization | </summary>
+ MAVLINK_TARGETING=2,
+ ///<summary> Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | </summary>
+ RC_TARGETING=3,
+ ///<summary> Load neutral position and start to point to Lat,Lon,Alt | </summary>
+ GPS_POINT=4,
+ ///<summary> | </summary>
+ ENUM_END=5,
+
+ };
+
+ /** @brief */
+ public enum MAV_CMD
+ {
+ ///<summary> Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| </summary>
+ WAYPOINT=16,
+ ///<summary> Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| </summary>
+ LOITER_UNLIM=17,
+ ///<summary> Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| </summary>
+ LOITER_TURNS=18,
+ ///<summary> Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| </summary>
+ LOITER_TIME=19,
+ ///<summary> Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| </summary>
+ RETURN_TO_LAUNCH=20,
+ ///<summary> Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| </summary>
+ LAND=21,
+ ///<summary> Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| </summary>
+ TAKEOFF=22,
+ ///<summary> 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. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| </summary>
+ ROI=80,
+ ///<summary> Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| </summary>
+ PATHPLANNING=81,
+ ///<summary> NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| </summary>
+ LAST=95,
+ ///<summary> Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| </summary>
+ CONDITION_DELAY=112,
+ ///<summary> Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| </summary>
+ CONDITION_CHANGE_ALT=113,
+ ///<summary> Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| </summary>
+ CONDITION_DISTANCE=114,
+ ///<summary> Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| </summary>
+ CONDITION_YAW=115,
+ ///<summary> NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| </summary>
+ CONDITION_LAST=159,
+ ///<summary> Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| </summary>
+ DO_SET_MODE=176,
+ ///<summary> Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| </summary>
+ DO_JUMP=177,
+ ///<summary> Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| </summary>
+ DO_CHANGE_SPEED=178,
+ ///<summary> Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| </summary>
+ DO_SET_HOME=179,
+ ///<summary> Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| </summary>
+ DO_SET_PARAMETER=180,
+ ///<summary> Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| </summary>
+ DO_SET_RELAY=181,
+ ///<summary> Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| </summary>
+ DO_REPEAT_RELAY=182,
+ ///<summary> Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| </summary>
+ DO_SET_SERVO=183,
+ ///<summary> Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| </summary>
+ DO_REPEAT_SERVO=184,
+ ///<summary> Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| </summary>
+ DO_CONTROL_VIDEO=200,
+ ///<summary> Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| </summary>
+ DO_DIGICAM_CONFIGURE=202,
+ ///<summary> Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| </summary>
+ DO_DIGICAM_CONTROL=203,
+ ///<summary> Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| </summary>
+ DO_MOUNT_CONFIGURE=204,
+ ///<summary> Mission command to control a camera or antenna mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty| </summary>
+ DO_MOUNT_CONTROL=205,
+ ///<summary> NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| </summary>
+ DO_LAST=240,
+ ///<summary> Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Empty| Empty| Empty| </summary>
+ PREFLIGHT_CALIBRATION=241,
+ ///<summary> Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| </summary>
+ PREFLIGHT_SET_SENSOR_OFFSETS=242,
+ ///<summary> Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| </summary>
+ PREFLIGHT_STORAGE=245,
+ ///<summary> Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| </summary>
+ PREFLIGHT_REBOOT_SHUTDOWN=246,
+ ///<summary> Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| </summary>
+ OVERRIDE_GOTO=252,
+ ///<summary> start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| </summary>
+ MISSION_START=300,
+ ///<summary> | </summary>
+ ENUM_END=301,
+
+ };
+
+ /** @brief */
+ public enum FENCE_ACTION
+ {
+ ///<summary> Disable fenced mode | </summary>
+ NONE=0,
+ ///<summary> Switched to guided mode to return point (fence point 0) | </summary>
+ GUIDED=1,
+ ///<summary> | </summary>
+ ENUM_END=2,
+
+ };
+
+ /** @brief */
+ public enum FENCE_BREACH
+ {
+ ///<summary> No last fence breach | </summary>
+ NONE=0,
+ ///<summary> Breached minimum altitude | </summary>
+ MINALT=1,
+ ///<summary> Breached minimum altitude | </summary>
+ MAXALT=2,
+ ///<summary> Breached fence boundary | </summary>
+ BOUNDARY=3,
+ ///<summary> | </summary>
+ ENUM_END=4,
+
+ };
+
+
+
+ /** @brief Micro air vehicle / autopilot classes. This identifies the individual model. */
+ public enum MAV_AUTOPILOT
+ {
+ ///<summary> Generic autopilot, full support for everything | </summary>
+ GENERIC=0,
+ ///<summary> PIXHAWK autopilot, http://pixhawk.ethz.ch | </summary>
+ PIXHAWK=1,
+ ///<summary> SLUGS autopilot, http://slugsuav.soe.ucsc.edu | </summary>
+ SLUGS=2,
+ ///<summary> ArduPilotMega / ArduCopter, http://diydrones.com | </summary>
+ ARDUPILOTMEGA=3,
+ ///<summary> OpenPilot, http://openpilot.org | </summary>
+ OPENPILOT=4,
+ ///<summary> Generic autopilot only supporting simple waypoints | </summary>
+ GENERIC_WAYPOINTS_ONLY=5,
+ ///<summary> Generic autopilot supporting waypoints and other simple navigation commands | </summary>
+ GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY=6,
+ ///<summary> Generic autopilot supporting the full mission command set | </summary>
+ GENERIC_MISSION_FULL=7,
+ ///<summary> No valid autopilot, e.g. a GCS or other MAVLink component | </summary>
+ INVALID=8,
+ ///<summary> PPZ UAV - http://nongnu.org/paparazzi | </summary>
+ PPZ=9,
+ ///<summary> UAV Dev Board | </summary>
+ UDB=10,
+ ///<summary> FlexiPilot | </summary>
+ FP=11,
+ ///<summary> | </summary>
+ ENUM_END=12,
+
+ };
+
+ /** @brief These flags encode the MAV mode. */
+ public enum MAV_MODE_FLAG
+ {
+ ///<summary> 0b00000001 Reserved for future use. | </summary>
+ CUSTOM_MODE_ENABLED=1,
+ ///<summary> 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | </summary>
+ TEST_ENABLED=2,
+ ///<summary> 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. | </summary>
+ AUTO_ENABLED=4,
+ ///<summary> 0b00001000 guided mode enabled, system flies MISSIONs / mission items. | </summary>
+ GUIDED_ENABLED=8,
+ ///<summary> 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | </summary>
+ STABILIZE_ENABLED=16,
+ ///<summary> 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | </summary>
+ HIL_ENABLED=32,
+ ///<summary> 0b01000000 remote control input is enabled. | </summary>
+ MANUAL_INPUT_ENABLED=64,
+ ///<summary> 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. | </summary>
+ SAFETY_ARMED=128,
+ ///<summary> | </summary>
+ ENUM_END=129,
+
+ };
+
+ /** @brief These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not. */
+ public enum MAV_MODE_FLAG_DECODE_POSITION
+ {
+ ///<summary> Eighth bit: 00000001 | </summary>
+ CUSTOM_MODE=1,
+ ///<summary> Seventh bit: 00000010 | </summary>
+ TEST=2,
+ ///<summary> Sixt bit: 00000100 | </summary>
+ AUTO=4,
+ ///<summary> Fifth bit: 00001000 | </summary>
+ GUIDED=8,
+ ///<summary> Fourth bit: 00010000 | </summary>
+ STABILIZE=16,
+ ///<summary> Third bit: 00100000 | </summary>
+ HIL=32,
+ ///<summary> Second bit: 01000000 | </summary>
+ MANUAL=64,
+ ///<summary> First bit: 10000000 | </summary>
+ SAFETY=128,
+ ///<summary> | </summary>
+ ENUM_END=129,
+
+ };
+
+ /** @brief Override command, pauses current mission execution and moves immediately to a position */
+ public enum MAV_GOTO
+ {
+ ///<summary> Hold at the current position. | </summary>
+ DO_HOLD=0,
+ ///<summary> Continue with the next item in mission execution. | </summary>
+ DO_CONTINUE=1,
+ ///<summary> Hold at the current position of the system | </summary>
+ HOLD_AT_CURRENT_POSITION=2,
+ ///<summary> Hold at the position specified in the parameters of the DO_HOLD action | </summary>
+ HOLD_AT_SPECIFIED_POSITION=3,
+ ///<summary> | </summary>
+ ENUM_END=4,
+
+ };
+
+ /** @brief These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override. */
+ public enum MAV_MODE
+ {
+ ///<summary> System is not ready to fly, booting, calibrating, etc. No flag is set. | </summary>
+ PREFLIGHT=0,
+ ///<summary> System is allowed to be active, under manual (RC) control, no stabilization | </summary>
+ MANUAL_DISARMED=64,
+ ///<summary> UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. | </summary>
+ TEST_DISARMED=66,
+ ///<summary> System is allowed to be active, under assisted RC control. | </summary>
+ STABILIZE_DISARMED=80,
+ ///<summary> System is allowed to be active, under autonomous control, manual setpoint | </summary>
+ GUIDED_DISARMED=88,
+ ///<summary> System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) | </summary>
+ AUTO_DISARMED=92,
+ ///<summary> System is allowed to be active, under manual (RC) control, no stabilization | </summary>
+ MANUAL_ARMED=192,
+ ///<summary> UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. | </summary>
+ TEST_ARMED=194,
+ ///<summary> System is allowed to be active, under assisted RC control. | </summary>
+ STABILIZE_ARMED=208,
+ ///<summary> System is allowed to be active, under autonomous control, manual setpoint | </summary>
+ GUIDED_ARMED=216,
+ ///<summary> System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) | </summary>
+ AUTO_ARMED=220,
+ ///<summary> | </summary>
+ ENUM_END=221,
+
+ };
+
+ /** @brief */
+ public enum MAV_STATE
+ {
+ ///<summary> Uninitialized system, state is unknown. | </summary>
+ UNINIT=0,
+ ///<summary> System is booting up. | </summary>
+ BOOT=1,
+ ///<summary> System is calibrating and not flight-ready. | </summary>
+ CALIBRATING=2,
+ ///<summary> System is grounded and on standby. It can be launched any time. | </summary>
+ STANDBY=3,
+ ///<summary> System is active and might be already airborne. Motors are engaged. | </summary>
+ ACTIVE=4,
+ ///<summary> System is in a non-normal flight mode. It can however still navigate. | </summary>
+ CRITICAL=5,
+ ///<summary> 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. | </summary>
+ EMERGENCY=6,
+ ///<summary> System just initialized its power-down sequence, will shut down now. | </summary>
+ POWEROFF=7,
+ ///<summary> | </summary>
+ ENUM_END=8,
+
+ };
+
+ /** @brief */
+ public enum MAV_TYPE
+ {
+ ///<summary> Generic micro air vehicle. | </summary>
+ GENERIC=0,
+ ///<summary> Fixed wing aircraft. | </summary>
+ FIXED_WING=1,
+ ///<summary> Quadrotor | </summary>
+ QUADROTOR=2,
+ ///<summary> Coaxial helicopter | </summary>
+ COAXIAL=3,
+ ///<summary> Normal helicopter with tail rotor. | </summary>
+ HELICOPTER=4,
+ ///<summary> Ground installation | </summary>
+ ANTENNA_TRACKER=5,
+ ///<summary> Operator control unit / ground control station | </summary>
+ GCS=6,
+ ///<summary> Airship, controlled | </summary>
+ AIRSHIP=7,
+ ///<summary> Free balloon, uncontrolled | </summary>
+ FREE_BALLOON=8,
+ ///<summary> Rocket | </summary>
+ ROCKET=9,
+ ///<summary> Ground rover | </summary>
+ GROUND_ROVER=10,
+ ///<summary> Surface vessel, boat, ship | </summary>
+ SURFACE_BOAT=11,
+ ///<summary> Submarine | </summary>
+ SUBMARINE=12,
+ ///<summary> Hexarotor | </summary>
+ HEXAROTOR=13,
+ ///<summary> Octorotor | </summary>
+ OCTOROTOR=14,
+ ///<summary> Octorotor | </summary>
+ TRICOPTER=15,
+ ///<summary> Flapping wing | </summary>
+ FLAPPING_WING=16,
+ ///<summary> | </summary>
+ ENUM_END=17,
+
+ };
+
+ /** @brief */
+ public enum MAV_COMPONENT
+ {
+ ///<summary> | </summary>
+ MAV_COMP_ID_ALL=0,
+ ///<summary> | </summary>
+ MAV_COMP_ID_CAMERA=100,
+ ///<summary> | </summary>
+ MAV_COMP_ID_SERVO1=140,
+ ///<summary> | </summary>
+ MAV_COMP_ID_SERVO2=141,
+ ///<summary> | </summary>
+ MAV_COMP_ID_SERVO3=142,
+ ///<summary> | </summary>
+ MAV_COMP_ID_SERVO4=143,
+ ///<summary> | </summary>
+ MAV_COMP_ID_SERVO5=144,
+ ///<summary> | </summary>
+ MAV_COMP_ID_SERVO6=145,
+ ///<summary> | </summary>
+ MAV_COMP_ID_SERVO7=146,
+ ///<summary> | </summary>
+ MAV_COMP_ID_SERVO8=147,
+ ///<summary> | </summary>
+ MAV_COMP_ID_SERVO9=148,
+ ///<summary> | </summary>
+ MAV_COMP_ID_SERVO10=149,
+ ///<summary> | </summary>
+ MAV_COMP_ID_SERVO11=150,
+ ///<summary> | </summary>
+ MAV_COMP_ID_SERVO12=151,
+ ///<summary> | </summary>
+ MAV_COMP_ID_SERVO13=152,
+ ///<summary> | </summary>
+ MAV_COMP_ID_SERVO14=153,
+ ///<summary> | </summary>
+ MAV_COMP_ID_MAPPER=180,
+ ///<summary> | </summary>
+ MAV_COMP_ID_MISSIONPLANNER=190,
+ ///<summary> | </summary>
+ MAV_COMP_ID_PATHPLANNER=195,
+ ///<summary> | </summary>
+ MAV_COMP_ID_IMU=200,
+ ///<summary> | </summary>
+ MAV_COMP_ID_IMU_2=201,
+ ///<summary> | </summary>
+ MAV_COMP_ID_IMU_3=202,
+ ///<summary> | </summary>
+ MAV_COMP_ID_GPS=220,
+ ///<summary> | </summary>
+ MAV_COMP_ID_UDP_BRIDGE=240,
+ ///<summary> | </summary>
+ MAV_COMP_ID_UART_BRIDGE=241,
+ ///<summary> | </summary>
+ MAV_COMP_ID_SYSTEM_CONTROL=250,
+ ///<summary> | </summary>
+ ENUM_END=251,
+
+ };
+
+ /** @brief */
+ public enum MAV_FRAME
+ {
+ ///<summary> Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL) | </summary>
+ GLOBAL=0,
+ ///<summary> Local coordinate frame, Z-up (x: north, y: east, z: down). | </summary>
+ LOCAL_NED=1,
+ ///<summary> NOT a coordinate frame, indicates a mission command. | </summary>
+ MISSION=2,
+ ///<summary> 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. | </summary>
+ GLOBAL_RELATIVE_ALT=3,
+ ///<summary> Local coordinate frame, Z-down (x: east, y: north, z: up) | </summary>
+ LOCAL_ENU=4,
+ ///<summary> | </summary>
+ ENUM_END=5,
+
+ };
+
+ /** @brief */
+ public enum MAVLINK_DATA_STREAM_TYPE
+ {
+ ///<summary> | </summary>
+ MAVLINK_DATA_STREAM_IMG_JPEG=1,
+ ///<summary> | </summary>
+ MAVLINK_DATA_STREAM_IMG_BMP=2,
+ ///<summary> | </summary>
+ MAVLINK_DATA_STREAM_IMG_RAW8U=3,
+ ///<summary> | </summary>
+ MAVLINK_DATA_STREAM_IMG_RAW32U=4,
+ ///<summary> | </summary>
+ MAVLINK_DATA_STREAM_IMG_PGM=5,
+ ///<summary> | </summary>
+ MAVLINK_DATA_STREAM_IMG_PNG=6,
+ ///<summary> | </summary>
+ ENUM_END=7,
+
+ };
+
+ /** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages. */
+ public enum MAV_DATA_STREAM
+ {
+ ///<summary> Enable all data streams | </summary>
+ ALL=0,
+ ///<summary> Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. | </summary>
+ RAW_SENSORS=1,
+ ///<summary> Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS | </summary>
+ EXTENDED_STATUS=2,
+ ///<summary> Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW | </summary>
+ RC_CHANNELS=3,
+ ///<summary> Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. | </summary>
+ RAW_CONTROLLER=4,
+ ///<summary> Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. | </summary>
+ POSITION=6,
+ ///<summary> Dependent on the autopilot | </summary>
+ EXTRA1=10,
+ ///<summary> Dependent on the autopilot | </summary>
+ EXTRA2=11,
+ ///<summary> Dependent on the autopilot | </summary>
+ EXTRA3=12,
+ ///<summary> | </summary>
+ ENUM_END=13,
+
+ };
+
+ /** @brief The ROI (region of interest) for the vehicle. This can be be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI). */
+ public enum MAV_ROI
+ {
+ ///<summary> No region of interest. | </summary>
+ NONE=0,
+ ///<summary> Point toward next MISSION. | </summary>
+ WPNEXT=1,
+ ///<summary> Point toward given MISSION. | </summary>
+ WPINDEX=2,
+ ///<summary> Point toward fixed location. | </summary>
+ LOCATION=3,
+ ///<summary> Point toward of given id. | </summary>
+ TARGET=4,
+ ///<summary> | </summary>
+ ENUM_END=5,
+
+ };
+
+ /** @brief ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission. */
+ public enum MAV_CMD_ACK
+ {
+ ///<summary> Command / mission item is ok. | </summary>
+ OK=1,
+ ///<summary> Generic error message if none of the other reasons fails or if no detailed error reporting is implemented. | </summary>
+ ERR_FAIL=2,
+ ///<summary> The system is refusing to accept this command from this source / communication partner. | </summary>
+ ERR_ACCESS_DENIED=3,
+ ///<summary> Command or mission item is not supported, other commands would be accepted. | </summary>
+ ERR_NOT_SUPPORTED=4,
+ ///<summary> The coordinate frame of this command / mission item is not supported. | </summary>
+ ERR_COORDINATE_FRAME_NOT_SUPPORTED=5,
+ ///<summary> 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. | </summary>
+ ERR_COORDINATES_OUT_OF_RANGE=6,
+ ///<summary> The X or latitude value is out of range. | </summary>
+ ERR_X_LAT_OUT_OF_RANGE=7,
+ ///<summary> The Y or longitude value is out of range. | </summary>
+ ERR_Y_LON_OUT_OF_RANGE=8,
+ ///<summary> The Z or altitude value is out of range. | </summary>
+ ERR_Z_ALT_OUT_OF_RANGE=9,
+ ///<summary> | </summary>
+ ENUM_END=10,
+
+ };
+
+ /** @brief type of a mavlink parameter */
+ public enum MAV_VAR
+ {
+ ///<summary> 32 bit float | </summary>
+ FLOAT=0,
+ ///<summary> 8 bit unsigned integer | </summary>
+ UINT8=1,
+ ///<summary> 8 bit signed integer | </summary>
+ INT8=2,
+ ///<summary> 16 bit unsigned integer | </summary>
+ UINT16=3,
+ ///<summary> 16 bit signed integer | </summary>
+ INT16=4,
+ ///<summary> 32 bit unsigned integer | </summary>
+ UINT32=5,
+ ///<summary> 32 bit signed integer | </summary>
+ INT32=6,
+ ///<summary> | </summary>
+ ENUM_END=7,
+
+ };
+
+ /** @brief result from a mavlink command */
+ public enum MAV_RESULT
+ {
+ ///<summary> Command ACCEPTED and EXECUTED | </summary>
+ ACCEPTED=0,
+ ///<summary> Command TEMPORARY REJECTED/DENIED | </summary>
+ TEMPORARILY_REJECTED=1,
+ ///<summary> Command PERMANENTLY DENIED | </summary>
+ DENIED=2,
+ ///<summary> Command UNKNOWN/UNSUPPORTED | </summary>
+ UNSUPPORTED=3,
+ ///<summary> Command executed, but failed | </summary>
+ FAILED=4,
+ ///<summary> | </summary>
+ ENUM_END=5,
+
+ };
+
+ /** @brief result in a mavlink mission ack */
+ public enum MAV_MISSION_RESULT
+ {
+ ///<summary> mission accepted OK | </summary>
+ MAV_MISSION_ACCEPTED=0,
+ ///<summary> generic error / not accepting mission commands at all right now | </summary>
+ MAV_MISSION_ERROR=1,
+ ///<summary> coordinate frame is not supported | </summary>
+ MAV_MISSION_UNSUPPORTED_FRAME=2,
+ ///<summary> command is not supported | </summary>
+ MAV_MISSION_UNSUPPORTED=3,
+ ///<summary> mission item exceeds storage space | </summary>
+ MAV_MISSION_NO_SPACE=4,
+ ///<summary> one of the parameters has an invalid value | </summary>
+ MAV_MISSION_INVALID=5,
+ ///<summary> param1 has an invalid value | </summary>
+ MAV_MISSION_INVALID_PARAM1=6,
+ ///<summary> param2 has an invalid value | </summary>
+ MAV_MISSION_INVALID_PARAM2=7,
+ ///<summary> param3 has an invalid value | </summary>
+ MAV_MISSION_INVALID_PARAM3=8,
+ ///<summary> param4 has an invalid value | </summary>
+ MAV_MISSION_INVALID_PARAM4=9,
+ ///<summary> x/param5 has an invalid value | </summary>
+ MAV_MISSION_INVALID_PARAM5_X=10,
+ ///<summary> y/param6 has an invalid value | </summary>
+ MAV_MISSION_INVALID_PARAM6_Y=11,
+ ///<summary> param7 has an invalid value | </summary>
+ MAV_MISSION_INVALID_PARAM7=12,
+ ///<summary> received waypoint out of sequence | </summary>
+ MAV_MISSION_INVALID_SEQUENCE=13,
+ ///<summary> not accepting any mission commands from this communication partner | </summary>
+ MAV_MISSION_DENIED=14,
+ ///<summary> | </summary>
+ ENUM_END=15,
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_SENSOR_OFFSETS = 150;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=42)]
+ public struct mavlink_sensor_offsets_t
+ {
+ /// <summary> magnetic declination (radians) </summary>
+ public Single mag_declination;
+ /// <summary> raw pressure from barometer </summary>
+ public Int32 raw_press;
+ /// <summary> raw temperature from barometer </summary>
+ public Int32 raw_temp;
+ /// <summary> gyro X calibration </summary>
+ public Single gyro_cal_x;
+ /// <summary> gyro Y calibration </summary>
+ public Single gyro_cal_y;
+ /// <summary> gyro Z calibration </summary>
+ public Single gyro_cal_z;
+ /// <summary> accel X calibration </summary>
+ public Single accel_cal_x;
+ /// <summary> accel Y calibration </summary>
+ public Single accel_cal_y;
+ /// <summary> accel Z calibration </summary>
+ public Single accel_cal_z;
+ /// <summary> magnetometer X offset </summary>
+ public Int16 mag_ofs_x;
+ /// <summary> magnetometer Y offset </summary>
+ public Int16 mag_ofs_y;
+ /// <summary> magnetometer Z offset </summary>
+ public Int16 mag_ofs_z;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_SET_MAG_OFFSETS = 151;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=8)]
+ public struct mavlink_set_mag_offsets_t
+ {
+ /// <summary> magnetometer X offset </summary>
+ public Int16 mag_ofs_x;
+ /// <summary> magnetometer Y offset </summary>
+ public Int16 mag_ofs_y;
+ /// <summary> magnetometer Z offset </summary>
+ public Int16 mag_ofs_z;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MEMINFO = 152;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=4)]
+ public struct mavlink_meminfo_t
+ {
+ /// <summary> heap top </summary>
+ public UInt16 brkval;
+ /// <summary> free memory </summary>
+ public UInt16 freemem;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_AP_ADC = 153;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=12)]
+ public struct mavlink_ap_adc_t
+ {
+ /// <summary> ADC output 1 </summary>
+ public UInt16 adc1;
+ /// <summary> ADC output 2 </summary>
+ public UInt16 adc2;
+ /// <summary> ADC output 3 </summary>
+ public UInt16 adc3;
+ /// <summary> ADC output 4 </summary>
+ public UInt16 adc4;
+ /// <summary> ADC output 5 </summary>
+ public UInt16 adc5;
+ /// <summary> ADC output 6 </summary>
+ public UInt16 adc6;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_DIGICAM_CONFIGURE = 154;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=15)]
+ public struct mavlink_digicam_configure_t
+ {
+ /// <summary> Correspondent value to given extra_param </summary>
+ public Single extra_value;
+ /// <summary> Divisor number //e.g. 1000 means 1/1000 (0 means ignore) </summary>
+ public UInt16 shutter_speed;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+ /// <summary> Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) </summary>
+ public byte mode;
+ /// <summary> F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) </summary>
+ public byte aperture;
+ /// <summary> ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) </summary>
+ public byte iso;
+ /// <summary> Exposure type enumeration from 1 to N (0 means ignore) </summary>
+ public byte exposure_type;
+ /// <summary> Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once </summary>
+ public byte command_id;
+ /// <summary> Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) </summary>
+ public byte engine_cut_off;
+ /// <summary> Extra parameters enumeration (0 means ignore) </summary>
+ public byte extra_param;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_DIGICAM_CONTROL = 155;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=13)]
+ public struct mavlink_digicam_control_t
+ {
+ /// <summary> Correspondent value to given extra_param </summary>
+ public Single extra_value;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+ /// <summary> 0: stop, 1: start or keep it up //Session control e.g. show/hide lens </summary>
+ public byte session;
+ /// <summary> 1 to N //Zoom's absolute position (0 means ignore) </summary>
+ public byte zoom_pos;
+ /// <summary> -100 to 100 //Zooming step value to offset zoom from the current position </summary>
+ public byte zoom_step;
+ /// <summary> 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus </summary>
+ public byte focus_lock;
+ /// <summary> 0: ignore, 1: shot or start filming </summary>
+ public byte shot;
+ /// <summary> Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once </summary>
+ public byte command_id;
+ /// <summary> Extra parameters enumeration (0 means ignore) </summary>
+ public byte extra_param;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MOUNT_CONFIGURE = 156;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=6)]
+ public struct mavlink_mount_configure_t
+ {
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+ /// <summary> mount operating mode (see MAV_MOUNT_MODE enum) </summary>
+ public byte mount_mode;
+ /// <summary> (1 = yes, 0 = no) </summary>
+ public byte stab_roll;
+ /// <summary> (1 = yes, 0 = no) </summary>
+ public byte stab_pitch;
+ /// <summary> (1 = yes, 0 = no) </summary>
+ public byte stab_yaw;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MOUNT_CONTROL = 157;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=15)]
+ public struct mavlink_mount_control_t
+ {
+ /// <summary> pitch(deg*100) or lat, depending on mount mode </summary>
+ public Int32 input_a;
+ /// <summary> roll(deg*100) or lon depending on mount mode </summary>
+ public Int32 input_b;
+ /// <summary> yaw(deg*100) or alt (in cm) depending on mount mode </summary>
+ public Int32 input_c;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+ /// <summary> if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) </summary>
+ public byte save_position;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MOUNT_STATUS = 158;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=14)]
+ public struct mavlink_mount_status_t
+ {
+ /// <summary> pitch(deg*100) or lat, depending on mount mode </summary>
+ public Int32 pointing_a;
+ /// <summary> roll(deg*100) or lon depending on mount mode </summary>
+ public Int32 pointing_b;
+ /// <summary> yaw(deg*100) or alt (in cm) depending on mount mode </summary>
+ public Int32 pointing_c;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_FENCE_POINT = 160;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=12)]
+ public struct mavlink_fence_point_t
+ {
+ /// <summary> Latitude of point </summary>
+ public Single lat;
+ /// <summary> Longitude of point </summary>
+ public Single lng;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+ /// <summary> point index (first point is 1, 0 is for return point) </summary>
+ public byte idx;
+ /// <summary> total number of points (for sanity checking) </summary>
+ public byte count;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_FENCE_FETCH_POINT = 161;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=3)]
+ public struct mavlink_fence_fetch_point_t
+ {
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+ /// <summary> point index (first point is 1, 0 is for return point) </summary>
+ public byte idx;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_FENCE_STATUS = 162;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=8)]
+ public struct mavlink_fence_status_t
+ {
+ /// <summary> time of last breach in milliseconds since boot </summary>
+ public UInt32 breach_time;
+ /// <summary> number of fence breaches </summary>
+ public UInt16 breach_count;
+ /// <summary> 0 if currently inside fence, 1 if outside </summary>
+ public byte breach_status;
+ /// <summary> last breach type (see FENCE_BREACH_* enum) </summary>
+ public byte breach_type;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_AHRS = 163;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=28)]
+ public struct mavlink_ahrs_t
+ {
+ /// <summary> X gyro drift estimate rad/s </summary>
+ public Single omegaIx;
+ /// <summary> Y gyro drift estimate rad/s </summary>
+ public Single omegaIy;
+ /// <summary> Z gyro drift estimate rad/s </summary>
+ public Single omegaIz;
+ /// <summary> average accel_weight </summary>
+ public Single accel_weight;
+ /// <summary> average renormalisation value </summary>
+ public Single renorm_val;
+ /// <summary> average error_roll_pitch value </summary>
+ public Single error_rp;
+ /// <summary> average error_yaw value </summary>
+ public Single error_yaw;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_SIMSTATE = 164;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=36)]
+ public struct mavlink_simstate_t
+ {
+ /// <summary> Roll angle (rad) </summary>
+ public Single roll;
+ /// <summary> Pitch angle (rad) </summary>
+ public Single pitch;
+ /// <summary> Yaw angle (rad) </summary>
+ public Single yaw;
+ /// <summary> X acceleration m/s/s </summary>
+ public Single xacc;
+ /// <summary> Y acceleration m/s/s </summary>
+ public Single yacc;
+ /// <summary> Z acceleration m/s/s </summary>
+ public Single zacc;
+ /// <summary> Angular speed around X axis rad/s </summary>
+ public Single xgyro;
+ /// <summary> Angular speed around Y axis rad/s </summary>
+ public Single ygyro;
+ /// <summary> Angular speed around Z axis rad/s </summary>
+ public Single zgyro;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_HWSTATUS = 165;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=3)]
+ public struct mavlink_hwstatus_t
+ {
+ /// <summary> board voltage (mV) </summary>
+ public UInt16 Vcc;
+ /// <summary> I2C error count </summary>
+ public byte I2Cerr;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_RADIO = 166;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=9)]
+ public struct mavlink_radio_t
+ {
+ /// <summary> receive errors </summary>
+ public UInt16 rxerrors;
+ /// <summary> serial errors </summary>
+ public UInt16 serrors;
+ /// <summary> count of error corrected packets </summary>
+ public UInt16 fixedp;
+ /// <summary> local signal strength </summary>
+ public byte rssi;
+ /// <summary> remote signal strength </summary>
+ public byte remrssi;
+ /// <summary> how full the tx buffer is as a percentage </summary>
+ public byte txbuf;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_HEARTBEAT = 0;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=9)]
+ public struct mavlink_heartbeat_t
+ {
+ /// <summary> Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. </summary>
+ public UInt32 custom_mode;
+ /// <summary> Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) </summary>
+ public byte type;
+ /// <summary> Autopilot type / class. defined in MAV_CLASS ENUM </summary>
+ public byte autopilot;
+ /// <summary> System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h </summary>
+ public byte base_mode;
+ /// <summary> System status flag, see MAV_STATUS ENUM </summary>
+ public byte system_status;
+ /// <summary> MAVLink version </summary>
+ public byte mavlink_version;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_SYS_STATUS = 1;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=31)]
+ public struct mavlink_sys_status_t
+ {
+ /// <summary> 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 </summary>
+ public UInt32 onboard_control_sensors_present;
+ /// <summary> 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 </summary>
+ public UInt32 onboard_control_sensors_enabled;
+ /// <summary> 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 </summary>
+ public UInt32 onboard_control_sensors_health;
+ /// <summary> Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 </summary>
+ public UInt16 load;
+ /// <summary> Battery voltage, in millivolts (1 = 1 millivolt) </summary>
+ public UInt16 voltage_battery;
+ /// <summary> Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current </summary>
+ public Int16 current_battery;
+ /// <summary> 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) </summary>
+ public UInt16 drop_rate_comm;
+ /// <summary> Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) </summary>
+ public UInt16 errors_comm;
+ /// <summary> Autopilot-specific errors </summary>
+ public UInt16 errors_count1;
+ /// <summary> Autopilot-specific errors </summary>
+ public UInt16 errors_count2;
+ /// <summary> Autopilot-specific errors </summary>
+ public UInt16 errors_count3;
+ /// <summary> Autopilot-specific errors </summary>
+ public UInt16 errors_count4;
+ /// <summary> Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery </summary>
+ public byte battery_remaining;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_SYSTEM_TIME = 2;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=12)]
+ public struct mavlink_system_time_t
+ {
+ /// <summary> Timestamp of the master clock in microseconds since UNIX epoch. </summary>
+ public UInt64 time_unix_usec;
+ /// <summary> Timestamp of the component clock since boot time in milliseconds. </summary>
+ public UInt32 time_boot_ms;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_PING = 4;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=14)]
+ public struct mavlink_ping_t
+ {
+ /// <summary> Unix timestamp in microseconds </summary>
+ public UInt64 time_usec;
+ /// <summary> PING sequence </summary>
+ public UInt32 seq;
+ /// <summary> 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 </summary>
+ public byte target_system;
+ /// <summary> 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 </summary>
+ public byte target_component;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL = 5;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=28)]
+ public struct mavlink_change_operator_control_t
+ {
+ /// <summary> System the GCS requests control for </summary>
+ public byte target_system;
+ /// <summary> 0: request control of this MAV, 1: Release control of this MAV </summary>
+ public byte control_request;
+ /// <summary> 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. </summary>
+ public byte version;
+ /// <summary> 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 "!?,.-" </summary>
+ [MarshalAs(UnmanagedType.ByValArray,SizeConst=25)]
+ public string passkey;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK = 6;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=3)]
+ public struct mavlink_change_operator_control_ack_t
+ {
+ /// <summary> ID of the GCS this message </summary>
+ public byte gcs_system_id;
+ /// <summary> 0: request control of this MAV, 1: Release control of this MAV </summary>
+ public byte control_request;
+ /// <summary> 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control </summary>
+ public byte ack;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_AUTH_KEY = 7;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=32)]
+ public struct mavlink_auth_key_t
+ {
+ /// <summary> key </summary>
+ [MarshalAs(UnmanagedType.ByValArray,SizeConst=32)]
+ public string key;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_SET_MODE = 11;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=6)]
+ public struct mavlink_set_mode_t
+ {
+ /// <summary> The new autopilot-specific mode. This field can be ignored by an autopilot. </summary>
+ public UInt32 custom_mode;
+ /// <summary> The system setting the mode </summary>
+ public byte target_system;
+ /// <summary> The new base mode </summary>
+ public byte base_mode;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_PARAM_REQUEST_READ = 20;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=20)]
+ public struct mavlink_param_request_read_t
+ {
+ /// <summary> Parameter index. Send -1 to use the param ID field as identifier </summary>
+ public Int16 param_index;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+ /// <summary> Onboard parameter id </summary>
+ [MarshalAs(UnmanagedType.ByValArray,SizeConst=16)]
+ public string param_id;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_PARAM_REQUEST_LIST = 21;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=2)]
+ public struct mavlink_param_request_list_t
+ {
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_PARAM_VALUE = 22;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=25)]
+ public struct mavlink_param_value_t
+ {
+ /// <summary> Onboard parameter value </summary>
+ public Single param_value;
+ /// <summary> Total number of onboard parameters </summary>
+ public UInt16 param_count;
+ /// <summary> Index of this onboard parameter </summary>
+ public UInt16 param_index;
+ /// <summary> Onboard parameter id </summary>
+ [MarshalAs(UnmanagedType.ByValArray,SizeConst=16)]
+ public byte[] param_id;
+ /// <summary> Onboard parameter type: see MAV_VAR enum </summary>
+ public byte param_type;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_PARAM_SET = 23;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=23)]
+ public struct mavlink_param_set_t
+ {
+ /// <summary> Onboard parameter value </summary>
+ public Single param_value;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+ /// <summary> Onboard parameter id </summary>
+ [MarshalAs(UnmanagedType.ByValArray,SizeConst=16)]
+ public byte[] param_id;
+ /// <summary> Onboard parameter type: see MAV_VAR enum </summary>
+ public byte param_type;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_GPS_RAW_INT = 24;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=30)]
+ public struct mavlink_gps_raw_int_t
+ {
+ /// <summary> Timestamp (microseconds since UNIX epoch or microseconds since system boot) </summary>
+ public UInt64 time_usec;
+ /// <summary> Latitude in 1E7 degrees </summary>
+ public Int32 lat;
+ /// <summary> Longitude in 1E7 degrees </summary>
+ public Int32 lon;
+ /// <summary> Altitude in 1E3 meters (millimeters) above MSL </summary>
+ public Int32 alt;
+ /// <summary> GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 </summary>
+ public UInt16 eph;
+ /// <summary> GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 </summary>
+ public UInt16 epv;
+ /// <summary> GPS ground speed (m/s * 100). If unknown, set to: 65535 </summary>
+ public UInt16 vel;
+ /// <summary> Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 </summary>
+ public UInt16 cog;
+ /// <summary> 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. </summary>
+ public byte fix_type;
+ /// <summary> Number of satellites visible. If unknown, set to 255 </summary>
+ public byte satellites_visible;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_GPS_STATUS = 25;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=101)]
+ public struct mavlink_gps_status_t
+ {
+ /// <summary> Number of satellites visible </summary>
+ public byte satellites_visible;
+ /// <summary> Global satellite ID </summary>
+ [MarshalAs(UnmanagedType.ByValArray,SizeConst=20)]
+ public byte[] satellite_prn;
+ /// <summary> 0: Satellite not used, 1: used for localization </summary>
+ [MarshalAs(UnmanagedType.ByValArray,SizeConst=20)]
+ public byte[] satellite_used;
+ /// <summary> Elevation (0: right on top of receiver, 90: on the horizon) of satellite </summary>
+ [MarshalAs(UnmanagedType.ByValArray,SizeConst=20)]
+ public byte[] satellite_elevation;
+ /// <summary> Direction of satellite, 0: 0 deg, 255: 360 deg. </summary>
+ [MarshalAs(UnmanagedType.ByValArray,SizeConst=20)]
+ public byte[] satellite_azimuth;
+ /// <summary> Signal to noise ratio of satellite </summary>
+ [MarshalAs(UnmanagedType.ByValArray,SizeConst=20)]
+ public byte[] satellite_snr;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_SCALED_IMU = 26;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=22)]
+ public struct mavlink_scaled_imu_t
+ {
+ /// <summary> Timestamp (milliseconds since system boot) </summary>
+ public UInt32 time_boot_ms;
+ /// <summary> X acceleration (mg) </summary>
+ public Int16 xacc;
+ /// <summary> Y acceleration (mg) </summary>
+ public Int16 yacc;
+ /// <summary> Z acceleration (mg) </summary>
+ public Int16 zacc;
+ /// <summary> Angular speed around X axis (millirad /sec) </summary>
+ public Int16 xgyro;
+ /// <summary> Angular speed around Y axis (millirad /sec) </summary>
+ public Int16 ygyro;
+ /// <summary> Angular speed around Z axis (millirad /sec) </summary>
+ public Int16 zgyro;
+ /// <summary> X Magnetic field (milli tesla) </summary>
+ public Int16 xmag;
+ /// <summary> Y Magnetic field (milli tesla) </summary>
+ public Int16 ymag;
+ /// <summary> Z Magnetic field (milli tesla) </summary>
+ public Int16 zmag;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_RAW_IMU = 27;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=26)]
+ public struct mavlink_raw_imu_t
+ {
+ /// <summary> Timestamp (microseconds since UNIX epoch or microseconds since system boot) </summary>
+ public UInt64 time_usec;
+ /// <summary> X acceleration (raw) </summary>
+ public Int16 xacc;
+ /// <summary> Y acceleration (raw) </summary>
+ public Int16 yacc;
+ /// <summary> Z acceleration (raw) </summary>
+ public Int16 zacc;
+ /// <summary> Angular speed around X axis (raw) </summary>
+ public Int16 xgyro;
+ /// <summary> Angular speed around Y axis (raw) </summary>
+ public Int16 ygyro;
+ /// <summary> Angular speed around Z axis (raw) </summary>
+ public Int16 zgyro;
+ /// <summary> X Magnetic field (raw) </summary>
+ public Int16 xmag;
+ /// <summary> Y Magnetic field (raw) </summary>
+ public Int16 ymag;
+ /// <summary> Z Magnetic field (raw) </summary>
+ public Int16 zmag;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_RAW_PRESSURE = 28;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=16)]
+ public struct mavlink_raw_pressure_t
+ {
+ /// <summary> Timestamp (microseconds since UNIX epoch or microseconds since system boot) </summary>
+ public UInt64 time_usec;
+ /// <summary> Absolute pressure (raw) </summary>
+ public Int16 press_abs;
+ /// <summary> Differential pressure 1 (raw) </summary>
+ public Int16 press_diff1;
+ /// <summary> Differential pressure 2 (raw) </summary>
+ public Int16 press_diff2;
+ /// <summary> Raw Temperature measurement (raw) </summary>
+ public Int16 temperature;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_SCALED_PRESSURE = 29;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=14)]
+ public struct mavlink_scaled_pressure_t
+ {
+ /// <summary> Timestamp (microseconds since UNIX epoch or microseconds since system boot) </summary>
+ public UInt32 time_boot_ms;
+ /// <summary> Absolute pressure (hectopascal) </summary>
+ public Single press_abs;
+ /// <summary> Differential pressure 1 (hectopascal) </summary>
+ public Single press_diff;
+ /// <summary> Temperature measurement (0.01 degrees celsius) </summary>
+ public Int16 temperature;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_ATTITUDE = 30;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=28)]
+ public struct mavlink_attitude_t
+ {
+ /// <summary> Timestamp (milliseconds since system boot) </summary>
+ public UInt32 time_boot_ms;
+ /// <summary> Roll angle (rad) </summary>
+ public Single roll;
+ /// <summary> Pitch angle (rad) </summary>
+ public Single pitch;
+ /// <summary> Yaw angle (rad) </summary>
+ public Single yaw;
+ /// <summary> Roll angular speed (rad/s) </summary>
+ public Single rollspeed;
+ /// <summary> Pitch angular speed (rad/s) </summary>
+ public Single pitchspeed;
+ /// <summary> Yaw angular speed (rad/s) </summary>
+ public Single yawspeed;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_ATTITUDE_QUATERNION = 31;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=32)]
+ public struct mavlink_attitude_quaternion_t
+ {
+ /// <summary> Timestamp (milliseconds since system boot) </summary>
+ public UInt32 time_boot_ms;
+ /// <summary> Quaternion component 1 </summary>
+ public Single q1;
+ /// <summary> Quaternion component 2 </summary>
+ public Single q2;
+ /// <summary> Quaternion component 3 </summary>
+ public Single q3;
+ /// <summary> Quaternion component 4 </summary>
+ public Single q4;
+ /// <summary> Roll angular speed (rad/s) </summary>
+ public Single rollspeed;
+ /// <summary> Pitch angular speed (rad/s) </summary>
+ public Single pitchspeed;
+ /// <summary> Yaw angular speed (rad/s) </summary>
+ public Single yawspeed;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_LOCAL_POSITION_NED = 32;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=28)]
+ public struct mavlink_local_position_ned_t
+ {
+ /// <summary> Timestamp (milliseconds since system boot) </summary>
+ public UInt32 time_boot_ms;
+ /// <summary> X Position </summary>
+ public Single x;
+ /// <summary> Y Position </summary>
+ public Single y;
+ /// <summary> Z Position </summary>
+ public Single z;
+ /// <summary> X Speed </summary>
+ public Single vx;
+ /// <summary> Y Speed </summary>
+ public Single vy;
+ /// <summary> Z Speed </summary>
+ public Single vz;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_GLOBAL_POSITION_INT = 33;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=28)]
+ public struct mavlink_global_position_int_t
+ {
+ /// <summary> Timestamp (milliseconds since system boot) </summary>
+ public UInt32 time_boot_ms;
+ /// <summary> Latitude, expressed as * 1E7 </summary>
+ public Int32 lat;
+ /// <summary> Longitude, expressed as * 1E7 </summary>
+ public Int32 lon;
+ /// <summary> Altitude in meters, expressed as * 1000 (millimeters), above MSL </summary>
+ public Int32 alt;
+ /// <summary> Altitude above ground in meters, expressed as * 1000 (millimeters) </summary>
+ public Int32 relative_alt;
+ /// <summary> Ground X Speed (Latitude), expressed as m/s * 100 </summary>
+ public Int16 vx;
+ /// <summary> Ground Y Speed (Longitude), expressed as m/s * 100 </summary>
+ public Int16 vy;
+ /// <summary> Ground Z Speed (Altitude), expressed as m/s * 100 </summary>
+ public Int16 vz;
+ /// <summary> Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 </summary>
+ public UInt16 hdg;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_RC_CHANNELS_SCALED = 34;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=22)]
+ public struct mavlink_rc_channels_scaled_t
+ {
+ /// <summary> Timestamp (milliseconds since system boot) </summary>
+ public UInt32 time_boot_ms;
+ /// <summary> RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 </summary>
+ public Int16 chan1_scaled;
+ /// <summary> RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 </summary>
+ public Int16 chan2_scaled;
+ /// <summary> RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 </summary>
+ public Int16 chan3_scaled;
+ /// <summary> RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 </summary>
+ public Int16 chan4_scaled;
+ /// <summary> RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 </summary>
+ public Int16 chan5_scaled;
+ /// <summary> RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 </summary>
+ public Int16 chan6_scaled;
+ /// <summary> RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 </summary>
+ public Int16 chan7_scaled;
+ /// <summary> RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 </summary>
+ public Int16 chan8_scaled;
+ /// <summary> Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. </summary>
+ public byte port;
+ /// <summary> Receive signal strength indicator, 0: 0%, 255: 100% </summary>
+ public byte rssi;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_RC_CHANNELS_RAW = 35;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=22)]
+ public struct mavlink_rc_channels_raw_t
+ {
+ /// <summary> Timestamp (milliseconds since system boot) </summary>
+ public UInt32 time_boot_ms;
+ /// <summary> RC channel 1 value, in microseconds </summary>
+ public UInt16 chan1_raw;
+ /// <summary> RC channel 2 value, in microseconds </summary>
+ public UInt16 chan2_raw;
+ /// <summary> RC channel 3 value, in microseconds </summary>
+ public UInt16 chan3_raw;
+ /// <summary> RC channel 4 value, in microseconds </summary>
+ public UInt16 chan4_raw;
+ /// <summary> RC channel 5 value, in microseconds </summary>
+ public UInt16 chan5_raw;
+ /// <summary> RC channel 6 value, in microseconds </summary>
+ public UInt16 chan6_raw;
+ /// <summary> RC channel 7 value, in microseconds </summary>
+ public UInt16 chan7_raw;
+ /// <summary> RC channel 8 value, in microseconds </summary>
+ public UInt16 chan8_raw;
+ /// <summary> Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. </summary>
+ public byte port;
+ /// <summary> Receive signal strength indicator, 0: 0%, 255: 100% </summary>
+ public byte rssi;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_SERVO_OUTPUT_RAW = 36;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=21)]
+ public struct mavlink_servo_output_raw_t
+ {
+ /// <summary> Timestamp (since UNIX epoch or microseconds since system boot) </summary>
+ public UInt32 time_usec;
+ /// <summary> Servo output 1 value, in microseconds </summary>
+ public UInt16 servo1_raw;
+ /// <summary> Servo output 2 value, in microseconds </summary>
+ public UInt16 servo2_raw;
+ /// <summary> Servo output 3 value, in microseconds </summary>
+ public UInt16 servo3_raw;
+ /// <summary> Servo output 4 value, in microseconds </summary>
+ public UInt16 servo4_raw;
+ /// <summary> Servo output 5 value, in microseconds </summary>
+ public UInt16 servo5_raw;
+ /// <summary> Servo output 6 value, in microseconds </summary>
+ public UInt16 servo6_raw;
+ /// <summary> Servo output 7 value, in microseconds </summary>
+ public UInt16 servo7_raw;
+ /// <summary> Servo output 8 value, in microseconds </summary>
+ public UInt16 servo8_raw;
+ /// <summary> Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. </summary>
+ public byte port;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST = 37;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=6)]
+ public struct mavlink_mission_request_partial_list_t
+ {
+ /// <summary> Start index, 0 by default </summary>
+ public Int16 start_index;
+ /// <summary> End index, -1 by default (-1: send list to end). Else a valid index of the list </summary>
+ public Int16 end_index;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST = 38;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=6)]
+ public struct mavlink_mission_write_partial_list_t
+ {
+ /// <summary> Start index, 0 by default and smaller / equal to the largest index of the current onboard list. </summary>
+ public Int16 start_index;
+ /// <summary> End index, equal or greater than start index. </summary>
+ public Int16 end_index;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MISSION_ITEM = 39;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=37)]
+ public struct mavlink_mission_item_t
+ {
+ /// <summary> PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters </summary>
+ public Single param1;
+ /// <summary> PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds </summary>
+ public Single param2;
+ /// <summary> 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. </summary>
+ public Single param3;
+ /// <summary> PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH </summary>
+ public Single param4;
+ /// <summary> PARAM5 / local: x position, global: latitude </summary>
+ public Single x;
+ /// <summary> PARAM6 / y position: global: longitude </summary>
+ public Single y;
+ /// <summary> PARAM7 / z position: global: altitude </summary>
+ public Single z;
+ /// <summary> Sequence </summary>
+ public UInt16 seq;
+ /// <summary> The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs </summary>
+ public UInt16 command;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+ /// <summary> The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h </summary>
+ public byte frame;
+ /// <summary> false:0, true:1 </summary>
+ public byte current;
+ /// <summary> autocontinue to next wp </summary>
+ public byte autocontinue;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MISSION_REQUEST = 40;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=4)]
+ public struct mavlink_mission_request_t
+ {
+ /// <summary> Sequence </summary>
+ public UInt16 seq;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MISSION_SET_CURRENT = 41;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=4)]
+ public struct mavlink_mission_set_current_t
+ {
+ /// <summary> Sequence </summary>
+ public UInt16 seq;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MISSION_CURRENT = 42;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=2)]
+ public struct mavlink_mission_current_t
+ {
+ /// <summary> Sequence </summary>
+ public UInt16 seq;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MISSION_REQUEST_LIST = 43;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=2)]
+ public struct mavlink_mission_request_list_t
+ {
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MISSION_COUNT = 44;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=4)]
+ public struct mavlink_mission_count_t
+ {
+ /// <summary> Number of mission items in the sequence </summary>
+ public UInt16 count;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MISSION_CLEAR_ALL = 45;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=2)]
+ public struct mavlink_mission_clear_all_t
+ {
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MISSION_ITEM_REACHED = 46;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=2)]
+ public struct mavlink_mission_item_reached_t
+ {
+ /// <summary> Sequence </summary>
+ public UInt16 seq;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MISSION_ACK = 47;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=3)]
+ public struct mavlink_mission_ack_t
+ {
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+ /// <summary> See MAV_MISSION_RESULT enum </summary>
+ public byte type;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN = 48;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=13)]
+ public struct mavlink_set_gps_global_origin_t
+ {
+ /// <summary> global position * 1E7 </summary>
+ public Int32 latitude;
+ /// <summary> global position * 1E7 </summary>
+ public Int32 longitude;
+ /// <summary> global position * 1000 </summary>
+ public Int32 altitude;
+ /// <summary> System ID </summary>
+ public byte target_system;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN = 49;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=12)]
+ public struct mavlink_gps_global_origin_t
+ {
+ /// <summary> Latitude (WGS84), expressed as * 1E7 </summary>
+ public Int32 latitude;
+ /// <summary> Longitude (WGS84), expressed as * 1E7 </summary>
+ public Int32 longitude;
+ /// <summary> Altitude(WGS84), expressed as * 1000 </summary>
+ public Int32 altitude;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT = 50;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=19)]
+ public struct mavlink_set_local_position_setpoint_t
+ {
+ /// <summary> x position </summary>
+ public Single x;
+ /// <summary> y position </summary>
+ public Single y;
+ /// <summary> z position </summary>
+ public Single z;
+ /// <summary> Desired yaw angle </summary>
+ public Single yaw;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+ /// <summary> Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU </summary>
+ public byte coordinate_frame;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT = 51;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=17)]
+ public struct mavlink_local_position_setpoint_t
+ {
+ /// <summary> x position </summary>
+ public Single x;
+ /// <summary> y position </summary>
+ public Single y;
+ /// <summary> z position </summary>
+ public Single z;
+ /// <summary> Desired yaw angle </summary>
+ public Single yaw;
+ /// <summary> Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU </summary>
+ public byte coordinate_frame;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT = 52;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=15)]
+ public struct mavlink_global_position_setpoint_int_t
+ {
+ /// <summary> WGS84 Latitude position in degrees * 1E7 </summary>
+ public Int32 latitude;
+ /// <summary> WGS84 Longitude position in degrees * 1E7 </summary>
+ public Int32 longitude;
+ /// <summary> WGS84 Altitude in meters * 1000 (positive for up) </summary>
+ public Int32 altitude;
+ /// <summary> Desired yaw angle in degrees * 100 </summary>
+ public Int16 yaw;
+ /// <summary> Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT </summary>
+ public byte coordinate_frame;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT = 53;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=15)]
+ public struct mavlink_set_global_position_setpoint_int_t
+ {
+ /// <summary> WGS84 Latitude position in degrees * 1E7 </summary>
+ public Int32 latitude;
+ /// <summary> WGS84 Longitude position in degrees * 1E7 </summary>
+ public Int32 longitude;
+ /// <summary> WGS84 Altitude in meters * 1000 (positive for up) </summary>
+ public Int32 altitude;
+ /// <summary> Desired yaw angle in degrees * 100 </summary>
+ public Int16 yaw;
+ /// <summary> Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT </summary>
+ public byte coordinate_frame;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA = 54;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=27)]
+ public struct mavlink_safety_set_allowed_area_t
+ {
+ /// <summary> x position 1 / Latitude 1 </summary>
+ public Single p1x;
+ /// <summary> y position 1 / Longitude 1 </summary>
+ public Single p1y;
+ /// <summary> z position 1 / Altitude 1 </summary>
+ public Single p1z;
+ /// <summary> x position 2 / Latitude 2 </summary>
+ public Single p2x;
+ /// <summary> y position 2 / Longitude 2 </summary>
+ public Single p2y;
+ /// <summary> z position 2 / Altitude 2 </summary>
+ public Single p2z;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+ /// <summary> 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. </summary>
+ public byte frame;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA = 55;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=25)]
+ public struct mavlink_safety_allowed_area_t
+ {
+ /// <summary> x position 1 / Latitude 1 </summary>
+ public Single p1x;
+ /// <summary> y position 1 / Longitude 1 </summary>
+ public Single p1y;
+ /// <summary> z position 1 / Altitude 1 </summary>
+ public Single p1z;
+ /// <summary> x position 2 / Latitude 2 </summary>
+ public Single p2x;
+ /// <summary> y position 2 / Longitude 2 </summary>
+ public Single p2y;
+ /// <summary> z position 2 / Altitude 2 </summary>
+ public Single p2z;
+ /// <summary> 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. </summary>
+ public byte frame;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST = 56;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=18)]
+ public struct mavlink_set_roll_pitch_yaw_thrust_t
+ {
+ /// <summary> Desired roll angle in radians </summary>
+ public Single roll;
+ /// <summary> Desired pitch angle in radians </summary>
+ public Single pitch;
+ /// <summary> Desired yaw angle in radians </summary>
+ public Single yaw;
+ /// <summary> Collective thrust, normalized to 0 .. 1 </summary>
+ public Single thrust;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST = 57;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=18)]
+ public struct mavlink_set_roll_pitch_yaw_speed_thrust_t
+ {
+ /// <summary> Desired roll angular speed in rad/s </summary>
+ public Single roll_speed;
+ /// <summary> Desired pitch angular speed in rad/s </summary>
+ public Single pitch_speed;
+ /// <summary> Desired yaw angular speed in rad/s </summary>
+ public Single yaw_speed;
+ /// <summary> Collective thrust, normalized to 0 .. 1 </summary>
+ public Single thrust;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT = 58;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=20)]
+ public struct mavlink_roll_pitch_yaw_thrust_setpoint_t
+ {
+ /// <summary> Timestamp in milliseconds since system boot </summary>
+ public UInt32 time_boot_ms;
+ /// <summary> Desired roll angle in radians </summary>
+ public Single roll;
+ /// <summary> Desired pitch angle in radians </summary>
+ public Single pitch;
+ /// <summary> Desired yaw angle in radians </summary>
+ public Single yaw;
+ /// <summary> Collective thrust, normalized to 0 .. 1 </summary>
+ public Single thrust;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT = 59;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=20)]
+ public struct mavlink_roll_pitch_yaw_speed_thrust_setpoint_t
+ {
+ /// <summary> Timestamp in milliseconds since system boot </summary>
+ public UInt32 time_boot_ms;
+ /// <summary> Desired roll angular speed in rad/s </summary>
+ public Single roll_speed;
+ /// <summary> Desired pitch angular speed in rad/s </summary>
+ public Single pitch_speed;
+ /// <summary> Desired yaw angular speed in rad/s </summary>
+ public Single yaw_speed;
+ /// <summary> Collective thrust, normalized to 0 .. 1 </summary>
+ public Single thrust;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT = 62;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=26)]
+ public struct mavlink_nav_controller_output_t
+ {
+ /// <summary> Current desired roll in degrees </summary>
+ public Single nav_roll;
+ /// <summary> Current desired pitch in degrees </summary>
+ public Single nav_pitch;
+ /// <summary> Current altitude error in meters </summary>
+ public Single alt_error;
+ /// <summary> Current airspeed error in meters/second </summary>
+ public Single aspd_error;
+ /// <summary> Current crosstrack error on x-y plane in meters </summary>
+ public Single xtrack_error;
+ /// <summary> Current desired heading in degrees </summary>
+ public Int16 nav_bearing;
+ /// <summary> Bearing to current MISSION/target in degrees </summary>
+ public Int16 target_bearing;
+ /// <summary> Distance to active MISSION in meters </summary>
+ public UInt16 wp_dist;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_STATE_CORRECTION = 64;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=36)]
+ public struct mavlink_state_correction_t
+ {
+ /// <summary> x position error </summary>
+ public Single xErr;
+ /// <summary> y position error </summary>
+ public Single yErr;
+ /// <summary> z position error </summary>
+ public Single zErr;
+ /// <summary> roll error (radians) </summary>
+ public Single rollErr;
+ /// <summary> pitch error (radians) </summary>
+ public Single pitchErr;
+ /// <summary> yaw error (radians) </summary>
+ public Single yawErr;
+ /// <summary> x velocity </summary>
+ public Single vxErr;
+ /// <summary> y velocity </summary>
+ public Single vyErr;
+ /// <summary> z velocity </summary>
+ public Single vzErr;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_REQUEST_DATA_STREAM = 66;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=6)]
+ public struct mavlink_request_data_stream_t
+ {
+ /// <summary> The requested interval between two messages of this type </summary>
+ public UInt16 req_message_rate;
+ /// <summary> The target requested to send the message stream. </summary>
+ public byte target_system;
+ /// <summary> The target requested to send the message stream. </summary>
+ public byte target_component;
+ /// <summary> The ID of the requested data stream </summary>
+ public byte req_stream_id;
+ /// <summary> 1 to start sending, 0 to stop sending. </summary>
+ public byte start_stop;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_DATA_STREAM = 67;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=4)]
+ public struct mavlink_data_stream_t
+ {
+ /// <summary> The requested interval between two messages of this type </summary>
+ public UInt16 message_rate;
+ /// <summary> The ID of the requested data stream </summary>
+ public byte stream_id;
+ /// <summary> 1 stream is enabled, 0 stream is stopped. </summary>
+ public byte on_off;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MANUAL_CONTROL = 69;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=21)]
+ public struct mavlink_manual_control_t
+ {
+ /// <summary> roll </summary>
+ public Single roll;
+ /// <summary> pitch </summary>
+ public Single pitch;
+ /// <summary> yaw </summary>
+ public Single yaw;
+ /// <summary> thrust </summary>
+ public Single thrust;
+ /// <summary> The system to be controlled </summary>
+ public byte target;
+ /// <summary> roll control enabled auto:0, manual:1 </summary>
+ public byte roll_manual;
+ /// <summary> pitch auto:0, manual:1 </summary>
+ public byte pitch_manual;
+ /// <summary> yaw auto:0, manual:1 </summary>
+ public byte yaw_manual;
+ /// <summary> thrust auto:0, manual:1 </summary>
+ public byte thrust_manual;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE = 70;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=18)]
+ public struct mavlink_rc_channels_override_t
+ {
+ /// <summary> RC channel 1 value, in microseconds </summary>
+ public UInt16 chan1_raw;
+ /// <summary> RC channel 2 value, in microseconds </summary>
+ public UInt16 chan2_raw;
+ /// <summary> RC channel 3 value, in microseconds </summary>
+ public UInt16 chan3_raw;
+ /// <summary> RC channel 4 value, in microseconds </summary>
+ public UInt16 chan4_raw;
+ /// <summary> RC channel 5 value, in microseconds </summary>
+ public UInt16 chan5_raw;
+ /// <summary> RC channel 6 value, in microseconds </summary>
+ public UInt16 chan6_raw;
+ /// <summary> RC channel 7 value, in microseconds </summary>
+ public UInt16 chan7_raw;
+ /// <summary> RC channel 8 value, in microseconds </summary>
+ public UInt16 chan8_raw;
+ /// <summary> System ID </summary>
+ public byte target_system;
+ /// <summary> Component ID </summary>
+ public byte target_component;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_VFR_HUD = 74;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=20)]
+ public struct mavlink_vfr_hud_t
+ {
+ /// <summary> Current airspeed in m/s </summary>
+ public Single airspeed;
+ /// <summary> Current ground speed in m/s </summary>
+ public Single groundspeed;
+ /// <summary> Current altitude (MSL), in meters </summary>
+ public Single alt;
+ /// <summary> Current climb rate in meters/second </summary>
+ public Single climb;
+ /// <summary> Current heading in degrees, in compass units (0..360, 0=north) </summary>
+ public Int16 heading;
+ /// <summary> Current throttle setting in integer percent, 0 to 100 </summary>
+ public UInt16 throttle;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_COMMAND_LONG = 76;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=33)]
+ public struct mavlink_command_long_t
+ {
+ /// <summary> Parameter 1, as defined by MAV_CMD enum. </summary>
+ public Single param1;
+ /// <summary> Parameter 2, as defined by MAV_CMD enum. </summary>
+ public Single param2;
+ /// <summary> Parameter 3, as defined by MAV_CMD enum. </summary>
+ public Single param3;
+ /// <summary> Parameter 4, as defined by MAV_CMD enum. </summary>
+ public Single param4;
+ /// <summary> Parameter 5, as defined by MAV_CMD enum. </summary>
+ public Single param5;
+ /// <summary> Parameter 6, as defined by MAV_CMD enum. </summary>
+ public Single param6;
+ /// <summary> Parameter 7, as defined by MAV_CMD enum. </summary>
+ public Single param7;
+ /// <summary> Command ID, as defined by MAV_CMD enum. </summary>
+ public UInt16 command;
+ /// <summary> System which should execute the command </summary>
+ public byte target_system;
+ /// <summary> Component which should execute the command, 0 for all components </summary>
+ public byte target_component;
+ /// <summary> 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) </summary>
+ public byte confirmation;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_COMMAND_ACK = 77;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=3)]
+ public struct mavlink_command_ack_t
+ {
+ /// <summary> Command ID, as defined by MAV_CMD enum. </summary>
+ public UInt16 command;
+ /// <summary> See MAV_RESULT enum </summary>
+ public byte result;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_HIL_STATE = 90;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=56)]
+ public struct mavlink_hil_state_t
+ {
+ /// <summary> Timestamp (microseconds since UNIX epoch or microseconds since system boot) </summary>
+ public UInt64 time_usec;
+ /// <summary> Roll angle (rad) </summary>
+ public Single roll;
+ /// <summary> Pitch angle (rad) </summary>
+ public Single pitch;
+ /// <summary> Yaw angle (rad) </summary>
+ public Single yaw;
+ /// <summary> Roll angular speed (rad/s) </summary>
+ public Single rollspeed;
+ /// <summary> Pitch angular speed (rad/s) </summary>
+ public Single pitchspeed;
+ /// <summary> Yaw angular speed (rad/s) </summary>
+ public Single yawspeed;
+ /// <summary> Latitude, expressed as * 1E7 </summary>
+ public Int32 lat;
+ /// <summary> Longitude, expressed as * 1E7 </summary>
+ public Int32 lon;
+ /// <summary> Altitude in meters, expressed as * 1000 (millimeters) </summary>
+ public Int32 alt;
+ /// <summary> Ground X Speed (Latitude), expressed as m/s * 100 </summary>
+ public Int16 vx;
+ /// <summary> Ground Y Speed (Longitude), expressed as m/s * 100 </summary>
+ public Int16 vy;
+ /// <summary> Ground Z Speed (Altitude), expressed as m/s * 100 </summary>
+ public Int16 vz;
+ /// <summary> X acceleration (mg) </summary>
+ public Int16 xacc;
+ /// <summary> Y acceleration (mg) </summary>
+ public Int16 yacc;
+ /// <summary> Z acceleration (mg) </summary>
+ public Int16 zacc;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_HIL_CONTROLS = 91;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=42)]
+ public struct mavlink_hil_controls_t
+ {
+ /// <summary> Timestamp (microseconds since UNIX epoch or microseconds since system boot) </summary>
+ public UInt64 time_usec;
+ /// <summary> Control output -1 .. 1 </summary>
+ public Single roll_ailerons;
+ /// <summary> Control output -1 .. 1 </summary>
+ public Single pitch_elevator;
+ /// <summary> Control output -1 .. 1 </summary>
+ public Single yaw_rudder;
+ /// <summary> Throttle 0 .. 1 </summary>
+ public Single throttle;
+ /// <summary> Aux 1, -1 .. 1 </summary>
+ public Single aux1;
+ /// <summary> Aux 2, -1 .. 1 </summary>
+ public Single aux2;
+ /// <summary> Aux 3, -1 .. 1 </summary>
+ public Single aux3;
+ /// <summary> Aux 4, -1 .. 1 </summary>
+ public Single aux4;
+ /// <summary> System mode (MAV_MODE) </summary>
+ public byte mode;
+ /// <summary> Navigation mode (MAV_NAV_MODE) </summary>
+ public byte nav_mode;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW = 92;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=33)]
+ public struct mavlink_hil_rc_inputs_raw_t
+ {
+ /// <summary> Timestamp (microseconds since UNIX epoch or microseconds since system boot) </summary>
+ public UInt64 time_usec;
+ /// <summary> RC channel 1 value, in microseconds </summary>
+ public UInt16 chan1_raw;
+ /// <summary> RC channel 2 value, in microseconds </summary>
+ public UInt16 chan2_raw;
+ /// <summary> RC channel 3 value, in microseconds </summary>
+ public UInt16 chan3_raw;
+ /// <summary> RC channel 4 value, in microseconds </summary>
+ public UInt16 chan4_raw;
+ /// <summary> RC channel 5 value, in microseconds </summary>
+ public UInt16 chan5_raw;
+ /// <summary> RC channel 6 value, in microseconds </summary>
+ public UInt16 chan6_raw;
+ /// <summary> RC channel 7 value, in microseconds </summary>
+ public UInt16 chan7_raw;
+ /// <summary> RC channel 8 value, in microseconds </summary>
+ public UInt16 chan8_raw;
+ /// <summary> RC channel 9 value, in microseconds </summary>
+ public UInt16 chan9_raw;
+ /// <summary> RC channel 10 value, in microseconds </summary>
+ public UInt16 chan10_raw;
+ /// <summary> RC channel 11 value, in microseconds </summary>
+ public UInt16 chan11_raw;
+ /// <summary> RC channel 12 value, in microseconds </summary>
+ public UInt16 chan12_raw;
+ /// <summary> Receive signal strength indicator, 0: 0%, 255: 100% </summary>
+ public byte rssi;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_OPTICAL_FLOW = 100;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=18)]
+ public struct mavlink_optical_flow_t
+ {
+ /// <summary> Timestamp (UNIX) </summary>
+ public UInt64 time_usec;
+ /// <summary> Ground distance in meters </summary>
+ public Single ground_distance;
+ /// <summary> Flow in pixels in x-sensor direction </summary>
+ public Int16 flow_x;
+ /// <summary> Flow in pixels in y-sensor direction </summary>
+ public Int16 flow_y;
+ /// <summary> Sensor ID </summary>
+ public byte sensor_id;
+ /// <summary> Optical flow quality / confidence. 0: bad, 255: maximum quality </summary>
+ public byte quality;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE = 101;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=32)]
+ public struct mavlink_global_vision_position_estimate_t
+ {
+ /// <summary> Timestamp (milliseconds) </summary>
+ public UInt64 usec;
+ /// <summary> Global X position </summary>
+ public Single x;
+ /// <summary> Global Y position </summary>
+ public Single y;
+ /// <summary> Global Z position </summary>
+ public Single z;
+ /// <summary> Roll angle in rad </summary>
+ public Single roll;
+ /// <summary> Pitch angle in rad </summary>
+ public Single pitch;
+ /// <summary> Yaw angle in rad </summary>
+ public Single yaw;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE = 102;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=32)]
+ public struct mavlink_vision_position_estimate_t
+ {
+ /// <summary> Timestamp (milliseconds) </summary>
+ public UInt64 usec;
+ /// <summary> Global X position </summary>
+ public Single x;
+ /// <summary> Global Y position </summary>
+ public Single y;
+ /// <summary> Global Z position </summary>
+ public Single z;
+ /// <summary> Roll angle in rad </summary>
+ public Single roll;
+ /// <summary> Pitch angle in rad </summary>
+ public Single pitch;
+ /// <summary> Yaw angle in rad </summary>
+ public Single yaw;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE = 103;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=20)]
+ public struct mavlink_vision_speed_estimate_t
+ {
+ /// <summary> Timestamp (milliseconds) </summary>
+ public UInt64 usec;
+ /// <summary> Global X speed </summary>
+ public Single x;
+ /// <summary> Global Y speed </summary>
+ public Single y;
+ /// <summary> Global Z speed </summary>
+ public Single z;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE = 104;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=32)]
+ public struct mavlink_vicon_position_estimate_t
+ {
+ /// <summary> Timestamp (milliseconds) </summary>
+ public UInt64 usec;
+ /// <summary> Global X position </summary>
+ public Single x;
+ /// <summary> Global Y position </summary>
+ public Single y;
+ /// <summary> Global Z position </summary>
+ public Single z;
+ /// <summary> Roll angle in rad </summary>
+ public Single roll;
+ /// <summary> Pitch angle in rad </summary>
+ public Single pitch;
+ /// <summary> Yaw angle in rad </summary>
+ public Single yaw;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_MEMORY_VECT = 249;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=36)]
+ public struct mavlink_memory_vect_t
+ {
+ /// <summary> Starting address of the debug variables </summary>
+ public UInt16 address;
+ /// <summary> Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below </summary>
+ public byte ver;
+ /// <summary> 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 </summary>
+ public byte type;
+ /// <summary> Memory contents at specified address </summary>
+ [MarshalAs(UnmanagedType.ByValArray,SizeConst=32)]
+ public byte[] value;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_DEBUG_VECT = 250;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=30)]
+ public struct mavlink_debug_vect_t
+ {
+ /// <summary> Timestamp </summary>
+ public UInt64 time_usec;
+ /// <summary> x </summary>
+ public Single x;
+ /// <summary> y </summary>
+ public Single y;
+ /// <summary> z </summary>
+ public Single z;
+ /// <summary> Name </summary>
+ [MarshalAs(UnmanagedType.ByValArray,SizeConst=10)]
+ public string name;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_NAMED_VALUE_FLOAT = 251;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=18)]
+ public struct mavlink_named_value_float_t
+ {
+ /// <summary> Timestamp (milliseconds since system boot) </summary>
+ public UInt32 time_boot_ms;
+ /// <summary> Floating point value </summary>
+ public Single value;
+ /// <summary> Name of the debug variable </summary>
+ [MarshalAs(UnmanagedType.ByValArray,SizeConst=10)]
+ public string name;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_NAMED_VALUE_INT = 252;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=18)]
+ public struct mavlink_named_value_int_t
+ {
+ /// <summary> Timestamp (milliseconds since system boot) </summary>
+ public UInt32 time_boot_ms;
+ /// <summary> Signed integer value </summary>
+ public Int32 value;
+ /// <summary> Name of the debug variable </summary>
+ [MarshalAs(UnmanagedType.ByValArray,SizeConst=10)]
+ public string name;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_STATUSTEXT = 253;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=51)]
+ public struct mavlink_statustext_t
+ {
+ /// <summary> Severity of status, 0 = info message, 255 = critical fault </summary>
+ public byte severity;
+ /// <summary> Status text message, without null termination character </summary>
+ [MarshalAs(UnmanagedType.ByValArray,SizeConst=50)]
+ public string text;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_DEBUG = 254;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=9)]
+ public struct mavlink_debug_t
+ {
+ /// <summary> Timestamp (milliseconds since system boot) </summary>
+ public UInt32 time_boot_ms;
+ /// <summary> DEBUG value </summary>
+ public Single value;
+ /// <summary> index of debug variable </summary>
+ public byte ind;
+
+ };
+
+
+ public const byte MAVLINK_MSG_ID_EXTENDED_MESSAGE = 255;
+ [StructLayout(LayoutKind.Sequential,Pack=1,Size=3)]
+ public struct mavlink_extended_message_t
+ {
+ /// <summary> System which should execute the command </summary>
+ public byte target_system;
+ /// <summary> Component which should execute the command, 0 for all components </summary>
+ public byte target_component;
+ /// <summary> Retransmission / ACK flags </summary>
+ public byte protocol_flags;
+
+ };
+
+ }
+ #endif
+}
diff --git a/Tools/ArdupilotMegaPlanner/MAVLinkTypes0.9.cs b/Tools/ArdupilotMegaPlanner/MAVLinkTypes0.9.cs
index c869616dcfc22bd228313de0c366f89a0ab6a76d..597333e7681b631ec8acf9140aed3662b0a6f306 100644
--- a/Tools/ArdupilotMegaPlanner/MAVLinkTypes0.9.cs
+++ b/Tools/ArdupilotMegaPlanner/MAVLinkTypes0.9.cs
@@ -5,10 +5,10 @@ using System.Runtime.InteropServices;
namespace ArdupilotMega
{
-#if !MAVLINK10
+ #if !MAVLINK10
partial class MAVLink
{
- public const string MAVLINK_BUILD_DATE = "Wed Apr 4 18:13:05 2012";
+ public const string MAVLINK_BUILD_DATE = "Fri Apr 6 21:10:55 2012";
public const string MAVLINK_WIRE_PROTOCOL_VERSION = "0.9";
public const int MAVLINK_MAX_DIALECT_PAYLOAD_SIZE = 42;
@@ -155,6 +155,51 @@ namespace ArdupilotMega
};
+
+ /** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages. */
+ public enum MAV_DATA_STREAM
+ {
+ ///<summary> Enable all data streams | </summary>
+ ALL=0,
+ ///<summary> Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. | </summary>
+ RAW_SENSORS=1,
+ ///<summary> Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS | </summary>
+ EXTENDED_STATUS=2,
+ ///<summary> Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW | </summary>
+ RC_CHANNELS=3,
+ ///<summary> Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. | </summary>
+ RAW_CONTROLLER=4,
+ ///<summary> Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. | </summary>
+ POSITION=6,
+ ///<summary> Dependent on the autopilot | </summary>
+ EXTRA1=10,
+ ///<summary> Dependent on the autopilot | </summary>
+ EXTRA2=11,
+ ///<summary> Dependent on the autopilot | </summary>
+ EXTRA3=12,
+ ///<summary> | </summary>
+ ENUM_END=13,
+
+ };
+
+ /** @brief The ROI (region of interest) for the vehicle. This can be be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI). */
+ public enum MAV_ROI
+ {
+ ///<summary> No region of interest. | </summary>
+ NONE=0,
+ ///<summary> Point toward next waypoint. | </summary>
+ WPNEXT=1,
+ ///<summary> Point toward given waypoint. | </summary>
+ WPINDEX=2,
+ ///<summary> Point toward fixed location. | </summary>
+ LOCATION=3,
+ ///<summary> Point toward of given id. | </summary>
+ TARGET=4,
+ ///<summary> | </summary>
+ ENUM_END=5,
+
+ };
+
public const byte MAVLINK_MSG_ID_SENSOR_OFFSETS = 150;
[StructLayout(LayoutKind.Sequential,Pack=1,Size=42)]
@@ -1780,175 +1825,10 @@ namespace ArdupilotMega
/// <summary> index of debug variable </summary>
public byte ind;
/// <summary> DEBUG value </summary>
- public Single value; };
-public enum MAV_CLASS
- {
- MAV_CLASS_GENERIC = 0, /// Generic autopilot, full support for everything
- MAV_CLASS_PIXHAWK = 1, /// PIXHAWK autopilot, http://pixhawk.ethz.ch
- MAV_CLASS_SLUGS = 2, /// SLUGS autopilot, http://slugsuav.soe.ucsc.edu
- MAV_CLASS_ARDUPILOTMEGA = 3, /// ArduPilotMega / ArduCopter, http://diydrones.com
- MAV_CLASS_OPENPILOT = 4, /// OpenPilot, http://openpilot.org
- MAV_CLASS_GENERIC_MISSION_WAYPOINTS_ONLY = 5, /// Generic autopilot only supporting simple waypoints
- MAV_CLASS_GENERIC_MISSION_NAVIGATION_ONLY = 6, /// Generic autopilot supporting waypoints and other simple navigation commands
- MAV_CLASS_GENERIC_MISSION_FULL = 7, /// Generic autopilot supporting the full mission command set
- MAV_CLASS_NONE = 8, /// No valid autopilot
- MAV_CLASS_NB /// Number of autopilot classes
- };
-
- public enum MAV_ACTION
- {
- MAV_ACTION_HOLD = 0,
- MAV_ACTION_MOTORS_START = 1,
- MAV_ACTION_LAUNCH = 2,
- MAV_ACTION_RETURN = 3,
- MAV_ACTION_EMCY_LAND = 4,
- MAV_ACTION_EMCY_KILL = 5,
- MAV_ACTION_CONFIRM_KILL = 6,
- MAV_ACTION_CONTINUE = 7,
- MAV_ACTION_MOTORS_STOP = 8,
- MAV_ACTION_HALT = 9,
- MAV_ACTION_SHUTDOWN = 10,
- MAV_ACTION_REBOOT = 11,
- MAV_ACTION_SET_MANUAL = 12,
- MAV_ACTION_SET_AUTO = 13,
- MAV_ACTION_STORAGE_READ = 14,
- MAV_ACTION_STORAGE_WRITE = 15,
- MAV_ACTION_CALIBRATE_RC = 16,
- MAV_ACTION_CALIBRATE_GYRO = 17,
- MAV_ACTION_CALIBRATE_MAG = 18,
- MAV_ACTION_CALIBRATE_ACC = 19,
- MAV_ACTION_CALIBRATE_PRESSURE = 20,
- MAV_ACTION_REC_START = 21,
- MAV_ACTION_REC_PAUSE = 22,
- MAV_ACTION_REC_STOP = 23,
- MAV_ACTION_TAKEOFF = 24,
- MAV_ACTION_NAVIGATE = 25,
- MAV_ACTION_LAND = 26,
- MAV_ACTION_LOITER = 27,
- MAV_ACTION_SET_ORIGIN = 28,
- MAV_ACTION_RELAY_ON = 29,
- MAV_ACTION_RELAY_OFF = 30,
- MAV_ACTION_GET_IMAGE = 31,
- MAV_ACTION_VIDEO_START = 32,
- MAV_ACTION_VIDEO_STOP = 33,
- MAV_ACTION_RESET_MAP = 34,
- MAV_ACTION_RESET_PLAN = 35,
- MAV_ACTION_DELAY_BEFORE_COMMAND = 36,
- MAV_ACTION_ASCEND_AT_RATE = 37,
- MAV_ACTION_CHANGE_MODE = 38,
- MAV_ACTION_LOITER_MAX_TURNS = 39,
- MAV_ACTION_LOITER_MAX_TIME = 40,
- MAV_ACTION_START_HILSIM = 41,
- MAV_ACTION_STOP_HILSIM = 42,
- MAV_ACTION_NB /// Number of MAV actions
- };
-
- public enum MAV_MODE
- {
- MAV_MODE_UNINIT = 0, /// System is in undefined state
- MAV_MODE_LOCKED = 1, /// Motors are blocked, system is safe
- MAV_MODE_MANUAL = 2, /// System is allowed to be active, under manual (RC) control
- MAV_MODE_GUIDED = 3, /// System is allowed to be active, under autonomous control, manual setpoint
- MAV_MODE_AUTO = 4, /// System is allowed to be active, under autonomous control and navigation
- MAV_MODE_TEST1 = 5, /// Generic test mode, for custom use
- MAV_MODE_TEST2 = 6, /// Generic test mode, for custom use
- MAV_MODE_TEST3 = 7, /// Generic test mode, for custom use
- MAV_MODE_READY = 8, /// System is ready, motors are unblocked, but controllers are inactive
- MAV_MODE_RC_TRAINING = 9 /// System is blocked, only RC valued are read and reported back
- };
-
- public enum MAV_STATE
- {
- MAV_STATE_UNINIT = 0,
- MAV_STATE_BOOT,
- MAV_STATE_CALIBRATING,
- MAV_STATE_STANDBY,
- MAV_STATE_ACTIVE,
- MAV_STATE_CRITICAL,
- MAV_STATE_EMERGENCY,
- MAV_STATE_HILSIM,
- MAV_STATE_POWEROFF
- };
-
- public enum MAV_NAV
- {
- MAV_NAV_GROUNDED = 0,
- MAV_NAV_LIFTOFF,
- MAV_NAV_HOLD,
- MAV_NAV_WAYPOINT,
- MAV_NAV_VECTOR,
- MAV_NAV_RETURNING,
- MAV_NAV_LANDING,
- MAV_NAV_LOST,
- MAV_NAV_LOITER,
- MAV_NAV_FREE_DRIFT
- };
-
- public enum MAV_TYPE
- {
- MAV_GENERIC = 0,
- MAV_FIXED_WING = 1,
- MAV_QUADROTOR = 2,
- MAV_COAXIAL = 3,
- MAV_HELICOPTER = 4,
- MAV_GROUND = 5,
- OCU = 6,
- MAV_AIRSHIP = 7,
- MAV_FREE_BALLOON = 8,
- MAV_ROCKET = 9,
- UGV_GROUND_ROVER = 10,
- UGV_SURFACE_SHIP = 11
- };
-
- public enum MAV_AUTOPILOT_TYPE
- {
- MAV_AUTOPILOT_GENERIC = 0,
- MAV_AUTOPILOT_PIXHAWK = 1,
- MAV_AUTOPILOT_SLUGS = 2,
- MAV_AUTOPILOT_ARDUPILOTMEGA = 3,
- MAV_AUTOPILOT_NONE = 4
- };
-
- public enum MAV_COMPONENT
- {
- MAV_COMP_ID_GPS,
- MAV_COMP_ID_WAYPOINTPLANNER,
- MAV_COMP_ID_BLOBTRACKER,
- MAV_COMP_ID_PATHPLANNER,
- MAV_COMP_ID_AIRSLAM,
- MAV_COMP_ID_MAPPER,
- MAV_COMP_ID_CAMERA,
- MAV_COMP_ID_IMU = 200,
- MAV_COMP_ID_IMU_2 = 201,
- MAV_COMP_ID_IMU_3 = 202,
- MAV_COMP_ID_UDP_BRIDGE = 240,
- MAV_COMP_ID_UART_BRIDGE = 241,
- MAV_COMP_ID_SYSTEM_CONTROL = 250
- };
-
- public enum MAV_FRAME
- {
- MAV_FRAME_GLOBAL = 0,
- MAV_FRAME_LOCAL = 1,
- MAV_FRAME_MISSION = 2,
- MAV_FRAME_GLOBAL_RELATIVE_ALT = 3,
- MAV_FRAME_LOCAL_ENU = 4
- };
-
- public enum 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, /* | */
- };
+ public Single value;
+
+ };
}
-#endif
+ #endif
}
diff --git a/Tools/ArdupilotMegaPlanner/MainV2.cs b/Tools/ArdupilotMegaPlanner/MainV2.cs
index ab59bc95f39f5b2c1ed593db4ff96ece68bfdff9..62a16e89d49f798abf7e84060785cafef079e157 100644
--- a/Tools/ArdupilotMegaPlanner/MainV2.cs
+++ b/Tools/ArdupilotMegaPlanner/MainV2.cs
@@ -993,8 +993,8 @@ namespace ArdupilotMega
MAVLink.mavlink_heartbeat_t htb = new MAVLink.mavlink_heartbeat_t();
#if MAVLINK10
- htb.type = (byte)MAVLink.MAV_TYPE.MAV_TYPE_GCS;
- htb.autopilot = (byte)MAVLink.MAV_AUTOPILOT.MAV_AUTOPILOT_ARDUPILOTMEGA;
+ htb.type = (byte)MAVLink.MAV_TYPE.GCS;
+ htb.autopilot = (byte)MAVLink.MAV_AUTOPILOT.ARDUPILOTMEGA;
htb.mavlink_version = 3;
#else
htb.type = (byte)MAVLink.MAV_TYPE.MAV_GENERIC;
@@ -1896,7 +1896,7 @@ namespace ArdupilotMega
}
if (keyData == (Keys.Control | Keys.W)) // test
{
- Form frm = new GCSViews.ConfigurationView.Setup();
+ Form frm = new GCSViews.ConfigurationView.Configuration();
ThemeManager.ApplyThemeTo(frm);
frm.Show();
return true;
diff --git a/Tools/ArdupilotMegaPlanner/Msi/wix.pdb b/Tools/ArdupilotMegaPlanner/Msi/wix.pdb
index f59c64535f3ced7d0ab770ba42bb6f2564d7dca8..69650bdca38f786356ab17d4e7a359ac63458031 100644
Binary files a/Tools/ArdupilotMegaPlanner/Msi/wix.pdb and b/Tools/ArdupilotMegaPlanner/Msi/wix.pdb differ
diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
index d2c9210b8508b9ad822ad9efc1111ff7d7b88d5a..3e05d4d38049814f62dbcaa8ced0f7b0a47ae9cc 100644
--- a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
+++ b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
@@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.1.61")]
+[assembly: AssemblyFileVersion("1.1.62")]
[assembly: NeutralResourcesLanguageAttribute("")]
diff --git a/Tools/ArdupilotMegaPlanner/RAW_Sensor.cs b/Tools/ArdupilotMegaPlanner/RAW_Sensor.cs
index 04c2427d1bbd5d0f2397581217bfc9def2c050f4..33db53e8f2714db85a148f96b93fa9b26421a426 100644
--- a/Tools/ArdupilotMegaPlanner/RAW_Sensor.cs
+++ b/Tools/ArdupilotMegaPlanner/RAW_Sensor.cs
@@ -217,7 +217,7 @@ namespace ArdupilotMega
MainV2.cs.ratesensors = 3; // hardcode 3 hz
- comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
+ comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
}
catch { }
}
@@ -242,12 +242,12 @@ namespace ArdupilotMega
//comPort.stopall(true); // ensure off
Console.WriteLine("Req streams {0} {1}", comPort.bps, DateTime.Now);
- //comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTENDED_STATUS, 0); // mode gps raw
- //comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_POSITION, 3); // request location
- //comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA1, 3); // request attitude
- //comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA2, 3); // request vfr
- comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
- //comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, 3); // request rc info
+ //comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, 0); // mode gps raw
+ //comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.POSITION, 3); // request location
+ //comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA1, 3); // request attitude
+ //comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA2, 3); // request vfr
+ comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
+ //comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, 3); // request rc info
}
catch
{
@@ -260,7 +260,7 @@ namespace ArdupilotMega
private void CMB_rawupdaterate_SelectedIndexChanged(object sender, EventArgs e)
{
MainV2.cs.ratesensors = (byte)int.Parse(CMB_rawupdaterate.Text);
- comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS, (byte)int.Parse(CMB_rawupdaterate.Text)); // request raw sensor
+ comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, (byte)int.Parse(CMB_rawupdaterate.Text)); // request raw sensor
}
System.IO.StreamWriter sw = null;
diff --git a/Tools/ArdupilotMegaPlanner/SerialInput.cs b/Tools/ArdupilotMegaPlanner/SerialInput.cs
index 5a1d5542e3c06c4f5110af232701e86661af70b7..948257f7c12c0fb6cea9765630e8c2cda0b566ef 100644
--- a/Tools/ArdupilotMegaPlanner/SerialInput.cs
+++ b/Tools/ArdupilotMegaPlanner/SerialInput.cs
@@ -159,7 +159,7 @@ namespace ArdupilotMega
{
MainV2.giveComport = true;
- MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
+ MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT, (byte)2);
GCSViews.FlightData.GuidedModeWP = new PointLatLngAlt(gotohere);
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb
index 11248adcb80cb55ccae9eff1ab698a7a1c19f950..3f6081a93f2ba8c777b3139118dd039ac6597ab2 100644
Binary files a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb and b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb differ
diff --git a/Tools/ArdupilotMegaPlanner/paramcompare.cs b/Tools/ArdupilotMegaPlanner/paramcompare.cs
index 99ef5a697615267b0294fb70f37cecf953096a8e..6671d1dce676feb8e8750cbd8ecb3b5ef39a9b85 100644
--- a/Tools/ArdupilotMegaPlanner/paramcompare.cs
+++ b/Tools/ArdupilotMegaPlanner/paramcompare.cs
@@ -11,16 +11,16 @@ namespace ArdupilotMega
{
public partial class ParamCompare : Form
{
- GCSViews.Configuration config;
+ DataGridView dgv;
Hashtable param = new Hashtable();
Hashtable param2 = new Hashtable();
- public ParamCompare(GCSViews.Configuration config, Hashtable param, Hashtable param2)
+ public ParamCompare(DataGridView dgv, Hashtable param, Hashtable param2)
{
InitializeComponent();
this.param = param;
this.param2 = param2;
- this.config = config;
+ this.dgv = dgv;
processToScreen();
}
@@ -61,7 +61,14 @@ namespace ArdupilotMega
{
if ((bool)row.Cells[Use.Index].Value == true)
{
- config.EEPROM_View_float_TextChanged(new Control() { Name = row.Cells[Command.Index].Value.ToString(), Text = row.Cells[newvalue.Index].Value.ToString() }, null);
+ foreach (DataGridViewRow dgvr in dgv.Rows)
+ {
+ if (dgvr.Cells[0].Value.ToString() == row.Cells[Command.Index].Value.ToString())
+ {
+ dgvr.Cells[1].Value = row.Cells[newvalue.Index].Value.ToString();
+ break;
+ }
+ }
}
}
this.Close();