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A modern MAVLink library for the JVM written in Kotlin.
The newest version!
package com.divpundir.mavlink.definitions.common
import com.divpundir.mavlink.api.GeneratedMavEnum
import com.divpundir.mavlink.api.GeneratedMavEnumEntry
import com.divpundir.mavlink.api.MavEnum
import com.divpundir.mavlink.api.WorkInProgress
import kotlin.Deprecated
import kotlin.UInt
/**
* Commands to be executed by the MAV. They can be executed on user request, or as part of a mission
* script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is
* as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list
* is similar what ARINC 424 is for commercial aircraft: A data format how to interpret
* waypoint/mission data. NaN and INT32_MAX may be used in float/integer params (respectively) to
* indicate optional/default values (e.g. to use the component's current yaw or latitude rather than a
* specific value). See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the
* structure of the MAV_CMD entries
*/
@GeneratedMavEnum
public enum class MavCmd(
override val `value`: UInt,
) : MavEnum {
/**
* Navigate to waypoint. This is intended for use in missions (for guided commands outside of
* missions use MAV_CMD_DO_REPOSITION).
*
* index = 1; label = Hold; units = s;
* Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)
*
* index = 2; label = Accept Radius; units = m;
* Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)
*
* index = 3; label = Pass Radius; units = m;
* 0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit,
* negative value for counter-clockwise orbit. Allows trajectory control.
*
* index = 4; label = Yaw; units = deg;
* Desired yaw angle at waypoint (rotary wing). NaN to use the current system yaw heading mode
* (e.g. yaw towards next waypoint, yaw to home, etc.).
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Altitude; units = m;
* Altitude
*/
@GeneratedMavEnumEntry
NAV_WAYPOINT(16u),
/**
* Loiter around this waypoint an unlimited amount of time
*
* index = 1;
* Empty
*
* index = 2;
* Empty
*
* index = 3; label = Radius; units = m;
* Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive
* loiter clockwise, else counter-clockwise
*
* index = 4; label = Yaw; units = deg;
* Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next
* waypoint, yaw to home, etc.).
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Altitude; units = m;
* Altitude
*/
@GeneratedMavEnumEntry
NAV_LOITER_UNLIM(17u),
/**
* Loiter around this waypoint for X turns
*
* index = 1; label = Turns;
* Number of turns.
*
* index = 2; label = Heading Required;
* Leave loiter circle only once heading towards the next waypoint (0 = False)
*
* index = 3; label = Radius; units = m;
* Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive
* loiter clockwise, else counter-clockwise
*
* index = 4; label = Xtrack Location;
* Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving
* vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it
* leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge
* to the direct line between the location that the vehicle exits the loiter radius and the next
* waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center
* xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use
* the current system default xtrack behaviour.
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Altitude; units = m;
* Altitude
*/
@GeneratedMavEnumEntry
NAV_LOITER_TURNS(18u),
/**
* Loiter at the specified latitude, longitude and altitude for a certain amount of time.
* Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only
* moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the
* Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter
* circle once heading towards the next waypoint.
*
* index = 1; label = Time; units = s;
* Loiter time (only starts once Lat, Lon and Alt is reached).
*
* index = 2; label = Heading Required;
* Leave loiter circle only once heading towards the next waypoint (0 = False)
*
* index = 3; label = Radius; units = m;
* Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive
* loiter clockwise, else counter-clockwise.
*
* index = 4; label = Xtrack Location;
* Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving
* vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it
* leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge
* to the direct line between the location that the vehicle exits the loiter radius and the next
* waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center
* xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use
* the current system default xtrack behaviour.
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Altitude; units = m;
* Altitude
*/
@GeneratedMavEnumEntry
NAV_LOITER_TIME(19u),
/**
* Return to launch location
*
* index = 1;
* Empty
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
NAV_RETURN_TO_LAUNCH(20u),
/**
* Land at location.
*
* index = 1; label = Abort Alt; units = m;
* Minimum target altitude if landing is aborted (0 = undefined/use system default).
*
* index = 2; label = Land Mode;
* Precision land mode.
*
* index = 3;
* Empty.
*
* index = 4; label = Yaw Angle; units = deg;
* Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next
* waypoint, yaw to home, etc.).
*
* index = 5; label = Latitude;
* Latitude.
*
* index = 6; label = Longitude;
* Longitude.
*
* index = 7; label = Altitude; units = m;
* Landing altitude (ground level in current frame).
*/
@GeneratedMavEnumEntry
NAV_LAND(21u),
/**
* Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane)
* should take off using the currently configured mode.
*
* index = 1; label = Pitch; units = deg;
* Minimum pitch (if airspeed sensor present), desired pitch without sensor
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4; label = Yaw; units = deg;
* Yaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current
* system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Altitude; units = m;
* Altitude
*/
@GeneratedMavEnumEntry
NAV_TAKEOFF(22u),
/**
* Land at local position (local frame only)
*
* index = 1; label = Target;
* Landing target number (if available)
*
* index = 2; label = Offset; units = m;
* Maximum accepted offset from desired landing position - computed magnitude from spherical
* coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the
* desired landing position and the position where the vehicle is about to land
*
* index = 3; label = Descend Rate; units = m/s;
* Landing descend rate
*
* index = 4; label = Yaw; units = rad;
* Desired yaw angle
*
* index = 5; label = Y Position; units = m;
* Y-axis position
*
* index = 6; label = X Position; units = m;
* X-axis position
*
* index = 7; label = Z Position; units = m;
* Z-axis / ground level position
*/
@GeneratedMavEnumEntry
NAV_LAND_LOCAL(23u),
/**
* Takeoff from local position (local frame only)
*
* index = 1; label = Pitch; units = rad;
* Minimum pitch (if airspeed sensor present), desired pitch without sensor
*
* index = 2;
* Empty
*
* index = 3; label = Ascend Rate; units = m/s;
* Takeoff ascend rate
*
* index = 4; label = Yaw; units = rad;
* Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of
* these
*
* index = 5; label = Y Position; units = m;
* Y-axis position
*
* index = 6; label = X Position; units = m;
* X-axis position
*
* index = 7; label = Z Position; units = m;
* Z-axis position
*/
@GeneratedMavEnumEntry
NAV_TAKEOFF_LOCAL(24u),
/**
* Vehicle following, i.e. this waypoint represents the position of a moving vehicle
*
* index = 1; label = Following;
* Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot
* implementation
*
* index = 2; label = Ground Speed; units = m/s;
* Ground speed of vehicle to be followed
*
* index = 3; label = Radius; units = m;
* Radius around waypoint. If positive loiter clockwise, else counter-clockwise
*
* index = 4; label = Yaw; units = deg;
* Desired yaw angle.
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Altitude; units = m;
* Altitude
*/
@GeneratedMavEnumEntry
NAV_FOLLOW(25u),
/**
* Continue on the current course and climb/descend to specified altitude. When the altitude is
* reached continue to the next command (i.e., don't proceed to the next command until the desired
* altitude is reached.
*
* index = 1; label = Action;
* Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 =
* Climbing, command completes when at or above this command's altitude, 2 = Descending, command
* completes when at or below this command's altitude.
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7; label = Altitude; units = m;
* Desired altitude
*/
@GeneratedMavEnumEntry
NAV_CONTINUE_AND_CHANGE_ALT(30u),
/**
* Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current
* position. Don't consider the navigation command complete (don't leave loiter) until the altitude
* has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will
* not leave the loiter until heading toward the next waypoint.
*
* index = 1; label = Heading Required;
* Leave loiter circle only once heading towards the next waypoint (0 = False)
*
* index = 2; label = Radius; units = m;
* Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive
* loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.
*
* index = 3;
* Empty
*
* index = 4; label = Xtrack Location;
* Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving
* vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it
* leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge
* to the direct line between the location that the vehicle exits the loiter radius and the next
* waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center
* xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use
* the current system default xtrack behaviour.
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Altitude; units = m;
* Altitude
*/
@GeneratedMavEnumEntry
NAV_LOITER_TO_ALT(31u),
/**
* Begin following a target
*
* index = 1; label = System ID;
* System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default
* position hold mode.
*
* index = 2;
* Reserved
*
* index = 3;
* Reserved
*
* index = 4; label = Altitude Mode;
* Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a
* fixed altitude above home.
*
* index = 5; label = Altitude; units = m;
* Altitude above home. (used if mode=2)
*
* index = 6;
* Reserved
*
* index = 7; label = Time to Land; units = s;
* Time to land in which the MAV should go to the default position hold mode after a message RX
* timeout.
*/
@GeneratedMavEnumEntry
DO_FOLLOW(32u),
/**
* Reposition the MAV after a follow target command has been sent
*
* index = 1; label = Camera Q1;
* Camera q1 (where 0 is on the ray from the camera to the tracking device)
*
* index = 2; label = Camera Q2;
* Camera q2
*
* index = 3; label = Camera Q3;
* Camera q3
*
* index = 4; label = Camera Q4;
* Camera q4
*
* index = 5; label = Altitude Offset; units = m;
* altitude offset from target
*
* index = 6; label = X Offset; units = m;
* X offset from target
*
* index = 7; label = Y Offset; units = m;
* Y offset from target
*/
@GeneratedMavEnumEntry
DO_FOLLOW_REPOSITION(33u),
/**
* Start orbiting on the circumference of a circle defined by the parameters. Setting values to
* NaN/INT32_MAX (as appropriate) results in using defaults.
*
* index = 1; label = Radius; units = m;
* Radius of the circle. Positive: orbit clockwise. Negative: orbit counter-clockwise. NaN: Use
* vehicle default radius, or current radius if already orbiting.
*
* index = 2; label = Velocity; units = m/s;
* Tangential Velocity. NaN: Use vehicle default velocity, or current velocity if already
* orbiting.
*
* index = 3; label = Yaw Behavior;
* Yaw behavior of the vehicle.
*
* index = 4; label = Orbits; units = rad;
* Orbit around the centre point for this many radians (i.e. for a three-quarter orbit set
* 270*Pi/180). 0: Orbit forever. NaN: Use vehicle default, or current value if already orbiting.
*
* index = 5; label = Latitude/X;
* Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME.
* INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if
* already orbiting.
*
* index = 6; label = Longitude/Y;
* Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME.
* INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if
* already orbiting.
*
* index = 7; label = Altitude/Z;
* Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME.
* NaN: Use current vehicle altitude.
*/
@WorkInProgress
@GeneratedMavEnumEntry
DO_ORBIT(34u),
/**
* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used
* by the vehicle's control system to control the vehicle attitude and the attitude of various
* sensors such as cameras.
*
* index = 1; label = ROI Mode;
* Region of interest mode.
*
* index = 2; label = WP Index;
* Waypoint index/ target ID. (see MAV_ROI enum)
*
* index = 3; label = ROI Index;
* ROI index (allows a vehicle to manage multiple ROI's)
*
* index = 4;
* Empty
*
* index = 5; label = X;
* x the location of the fixed ROI (see MAV_FRAME)
*
* index = 6; label = Y;
* y
*
* index = 7; label = Z;
* z
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
NAV_ROI(80u),
/**
* Control autonomous path planning on the MAV.
*
* index = 1; label = Local Ctrl;
* 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable
* local path planning, 2: Enable and reset local path planning
*
* index = 2; label = Global Ctrl;
* 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
*
* index = 3;
* Empty
*
* index = 4; label = Yaw; units = deg;
* Yaw angle at goal
*
* index = 5; label = Latitude/X;
* Latitude/X of goal
*
* index = 6; label = Longitude/Y;
* Longitude/Y of goal
*
* index = 7; label = Altitude/Z;
* Altitude/Z of goal
*/
@GeneratedMavEnumEntry
NAV_PATHPLANNING(81u),
/**
* Navigate to waypoint using a spline path.
*
* index = 1; label = Hold; units = s;
* Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5; label = Latitude/X;
* Latitude/X of goal
*
* index = 6; label = Longitude/Y;
* Longitude/Y of goal
*
* index = 7; label = Altitude/Z;
* Altitude/Z of goal
*/
@GeneratedMavEnumEntry
NAV_SPLINE_WAYPOINT(82u),
/**
* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading.
* The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight
* (multicopters, boats,etc.).
*
* index = 1;
* Empty
*
* index = 2; label = Transition Heading;
* Front transition heading.
*
* index = 3;
* Empty
*
* index = 4; label = Yaw Angle; units = deg;
* Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw
* to home, etc.).
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Altitude; units = m;
* Altitude
*/
@GeneratedMavEnumEntry
NAV_VTOL_TAKEOFF(84u),
/**
* Land using VTOL mode
*
* index = 1; label = Land Options;
* Landing behaviour.
*
* index = 2;
* Empty
*
* index = 3; label = Approach Altitude; units = m;
* Approach altitude (with the same reference as the Altitude field). NaN if unspecified.
*
* index = 4; label = Yaw; units = deg;
* Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw
* to home, etc.).
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Ground Altitude; units = m;
* Altitude (ground level) relative to the current coordinate frame. NaN to use system default
* landing altitude (ignore value).
*/
@GeneratedMavEnumEntry
NAV_VTOL_LAND(85u),
/**
* hand control over to an external controller
*
* index = 1; label = Enable;
* On / Off (> 0.5f on)
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
NAV_GUIDED_ENABLE(92u),
/**
* Delay the next navigation command a number of seconds or until a specified time
*
* index = 1; label = Delay; units = s;
* Delay (-1 to enable time-of-day fields)
*
* index = 2; label = Hour;
* hour (24h format, UTC, -1 to ignore)
*
* index = 3; label = Minute;
* minute (24h format, UTC, -1 to ignore)
*
* index = 4; label = Second;
* second (24h format, UTC, -1 to ignore)
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
NAV_DELAY(93u),
/**
* Descend and place payload. Vehicle moves to specified location, descends until it detects a
* hanging payload has reached the ground, and then releases the payload. If ground is not detected
* before the reaching the maximum descent value (param1), the command will complete without
* releasing the payload.
*
* index = 1; label = Max Descent; units = m;
* Maximum distance to descend.
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Altitude; units = m;
* Altitude
*/
@GeneratedMavEnumEntry
NAV_PAYLOAD_PLACE(94u),
/**
* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the
* enumeration
*
* index = 1;
* Empty
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
NAV_LAST(95u),
/**
* Delay mission state machine.
*
* index = 1; label = Delay; units = s;
* Delay
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
CONDITION_DELAY(112u),
/**
* Ascend/descend to target altitude at specified rate. Delay mission state machine until desired
* altitude reached.
*
* index = 1; label = Rate; units = m/s;
* Descent / Ascend rate.
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7; label = Altitude; units = m;
* Target Altitude
*/
@GeneratedMavEnumEntry
CONDITION_CHANGE_ALT(113u),
/**
* Delay mission state machine until within desired distance of next NAV point.
*
* index = 1; label = Distance; units = m;
* Distance.
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
CONDITION_DISTANCE(114u),
/**
* Reach a certain target angle.
*
* index = 1; label = Angle; units = deg;
* target angle [0-360]. Absolute angles: 0 is north. Relative angle: 0 is initial yaw. Direction
* set by param3.
*
* index = 2; label = Angular Speed; units = deg/s;
* angular speed
*
* index = 3; label = Direction;
* direction: -1: counter clockwise, 0: shortest direction, 1: clockwise
*
* index = 4; label = Relative;
* 0: absolute angle, 1: relative offset
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
CONDITION_YAW(115u),
/**
* NOP - This command is only used to mark the upper limit of the CONDITION commands in the
* enumeration
*
* index = 1;
* Empty
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
CONDITION_LAST(159u),
/**
* Set system mode.
*
* index = 1; label = Mode;
* Mode
*
* index = 2; label = Custom Mode;
* Custom mode - this is system specific, please refer to the individual autopilot specifications
* for details.
*
* index = 3; label = Custom Submode;
* Custom sub mode - this is system specific, please refer to the individual autopilot
* specifications for details.
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_SET_MODE(176u),
/**
* Jump to the desired command in the mission list. Repeat this action only the specified number
* of times
*
* index = 1; label = Number;
* Sequence number
*
* index = 2; label = Repeat;
* Repeat count
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_JUMP(177u),
/**
* Change speed and/or throttle set points. The value persists until it is overridden or there is
* a mode change
*
* index = 1; label = Speed Type;
* Speed type of value set in param2 (such as airspeed, ground speed, and so on)
*
* index = 2; label = Speed; units = m/s;
* Speed (-1 indicates no change, -2 indicates return to default vehicle speed)
*
* index = 3; label = Throttle; units = %;
* Throttle (-1 indicates no change, -2 indicates return to default vehicle throttle value)
*
* index = 4; index = 5; index = 6; index = 7;
*/
@GeneratedMavEnumEntry
DO_CHANGE_SPEED(178u),
/**
*
* Sets the home position to either to the current position or a specified position.
* The home position is the default position that the system will return to and land on.
* The position is set automatically by the system during the takeoff (and may also be
* set using this command).
* Note: the current home position may be emitted in a HOME_POSITION message on request
* (using MAV_CMD_REQUEST_MESSAGE with param1=242).
*
*
* index = 1; label = Use Current;
* Use current (1=use current location, 0=use specified location)
*
* index = 2; label = Roll; units = deg;
* Roll angle (of surface). Range: -180..180 degrees. NAN or 0 means value not set. 0.01 indicates
* zero roll.
*
* index = 3; label = Pitch; units = deg;
* Pitch angle (of surface). Range: -90..90 degrees. NAN or 0 means value not set. 0.01 means zero
* pitch.
*
* index = 4; label = Yaw; units = deg;
* Yaw angle. NaN to use default heading. Range: -180..180 degrees.
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Altitude; units = m;
* Altitude
*/
@GeneratedMavEnumEntry
DO_SET_HOME(179u),
/**
* Set a system parameter. Caution! Use of this command requires knowledge of the numeric
* enumeration value of the parameter.
*
* index = 1; label = Number;
* Parameter number
*
* index = 2; label = Value;
* Parameter value
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
DO_SET_PARAMETER(180u),
/**
* Set a relay to a condition.
*
* index = 1; label = Instance;
* Relay instance number.
*
* index = 2; label = Setting;
* Setting. (1=on, 0=off, others possible depending on system hardware)
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_SET_RELAY(181u),
/**
* Cycle a relay on and off for a desired number of cycles with a desired period.
*
* index = 1; label = Instance;
* Relay instance number.
*
* index = 2; label = Count;
* Cycle count.
*
* index = 3; label = Time; units = s;
* Cycle time.
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_REPEAT_RELAY(182u),
/**
* Set a servo to a desired PWM value.
*
* index = 1; label = Instance;
* Servo instance number.
*
* index = 2; label = PWM; units = us;
* Pulse Width Modulation.
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_SET_SERVO(183u),
/**
* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a
* desired period.
*
* index = 1; label = Instance;
* Servo instance number.
*
* index = 2; label = PWM; units = us;
* Pulse Width Modulation.
*
* index = 3; label = Count;
* Cycle count.
*
* index = 4; label = Time; units = s;
* Cycle time.
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_REPEAT_SERVO(184u),
/**
* Terminate flight immediately.
* Flight termination immediately and irreversibly terminates the current flight,
* returning the vehicle to ground.
* The vehicle will ignore RC or other input until it has been power-cycled.
* Termination may trigger safety measures, including: disabling motors and deployment
* of parachute on multicopters, and setting flight surfaces to initiate a landing pattern on
* fixed-wing).
* On multicopters without a parachute it may trigger a crash landing.
* Support for this command can be tested using the protocol bit:
* MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION.
* Support for this command can also be tested by sending the command with param1=0 (<
* 0.5); the ACK should be either MAV_RESULT_FAILED or MAV_RESULT_UNSUPPORTED.
*
*
* index = 1; label = Terminate;
* Flight termination activated if > 0.5. Otherwise not activated and ACK with MAV_RESULT_FAILED.
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_FLIGHTTERMINATION(185u),
/**
* Change altitude set point.
*
* index = 1; label = Altitude; units = m;
* Altitude.
*
* index = 2; label = Frame;
* Frame of new altitude.
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_CHANGE_ALTITUDE(186u),
/**
* Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific
* outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (i.e. a
* parameter).
*
* index = 1; label = Actuator 1;
* Actuator 1 value, scaled from [-1 to 1]. NaN to ignore.
*
* index = 2; label = Actuator 2;
* Actuator 2 value, scaled from [-1 to 1]. NaN to ignore.
*
* index = 3; label = Actuator 3;
* Actuator 3 value, scaled from [-1 to 1]. NaN to ignore.
*
* index = 4; label = Actuator 4;
* Actuator 4 value, scaled from [-1 to 1]. NaN to ignore.
*
* index = 5; label = Actuator 5;
* Actuator 5 value, scaled from [-1 to 1]. NaN to ignore.
*
* index = 6; label = Actuator 6;
* Actuator 6 value, scaled from [-1 to 1]. NaN to ignore.
*
* index = 7; label = Index;
* Index of actuator set (i.e if set to 1, Actuator 1 becomes Actuator 7)
*/
@GeneratedMavEnumEntry
DO_SET_ACTUATOR(187u),
/**
* Mission item to specify the start of a failsafe/landing return-path segment (the end of the
* segment is the next MAV_CMD_DO_LAND_START item).
* A vehicle that is using missions for landing (e.g. in a return mode) will join the
* mission on the closest path of the return-path segment (instead of MAV_CMD_DO_LAND_START or the
* nearest waypoint).
* The main use case is to minimize the failsafe flight path in corridor missions, where
* the inbound/outbound paths are constrained (by geofences) to the same particular path.
* The MAV_CMD_NAV_RETURN_PATH_START would be placed at the start of the return path.
* If a failsafe occurs on the outbound path the vehicle will move to the nearest point
* on the return path (which is parallel for this kind of mission), effectively turning round and
* following the shortest path to landing.
* If a failsafe occurs on the inbound path the vehicle is already on the return segment
* and will continue to landing.
* The Latitude/Longitude/Altitude are optional, and may be set to 0 if not needed.
* If specified, the item defines the waypoint at which the return segment starts.
* If sent using as a command, the vehicle will perform a mission landing (using the
* land segment if defined) or reject the command if mission landings are not supported, or no
* mission landing is defined. When used as a command any position information in the command is
* ignored.
*
*
* index = 1;
* Empty
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5; label = Latitude;
* Latitudee. 0: not used.
*
* index = 6; label = Longitude;
* Longitudee. 0: not used.
*
* index = 7; label = Altitude; units = m;
* Altitudee. 0: not used.
*/
@WorkInProgress
@GeneratedMavEnumEntry
DO_RETURN_PATH_START(188u),
/**
* Mission command to perform a landing. This is used as a marker in a mission to tell the
* autopilot where a sequence of mission items that represents a landing starts.
* It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest
* (geographically) landing sequence in the mission will be used.
* The Latitude/Longitude/Altitude is optional, and may be set to 0 if not needed. If specified
* then it will be used to help find the closest landing sequence.
*
*
* index = 1;
* Empty
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Altitude; units = m;
* Altitude
*/
@GeneratedMavEnumEntry
DO_LAND_START(189u),
/**
* Mission command to perform a landing from a rally point.
*
* index = 1; label = Altitude; units = m;
* Break altitude
*
* index = 2; label = Speed; units = m/s;
* Landing speed
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_RALLY_LAND(190u),
/**
* Mission command to safely abort an autonomous landing.
*
* index = 1; label = Altitude; units = m;
* Altitude
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_GO_AROUND(191u),
/**
* Reposition the vehicle to a specific WGS84 global position. This command is intended for guided
* commands (for missions use MAV_CMD_NAV_WAYPOINT instead).
*
* index = 1; label = Speed; units = m/s;
* Ground speed, less than 0 (-1) for default
*
* index = 2; label = Bitmask;
* Bitmask of option flags.
*
* index = 3; label = Radius; units = m;
* Loiter radius for planes. Positive values only, direction is controlled by Yaw value. A value
* of zero or NaN is ignored.
*
* index = 4; label = Yaw; units = deg;
* Yaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint,
* yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Altitude; units = m;
* Altitude
*/
@GeneratedMavEnumEntry
DO_REPOSITION(192u),
/**
* If in a GPS controlled position mode, hold the current position or continue.
*
* index = 1; label = Continue;
* 0: Pause current mission or reposition command, hold current position. 1: Continue mission. A
* VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter
* with the default loiter radius.
*
* index = 2;
* Reserved
*
* index = 3;
* Reserved
*
* index = 4;
* Reserved
*
* index = 5;
* Reserved
*
* index = 6;
* Reserved
*
* index = 7;
* Reserved
*/
@GeneratedMavEnumEntry
DO_PAUSE_CONTINUE(193u),
/**
* Set moving direction to forward or reverse.
*
* index = 1; label = Reverse;
* Direction (0=Forward, 1=Reverse)
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_SET_REVERSE(194u),
/**
* Sets the region of interest (ROI) to a location. This can then be used by the vehicle's control
* system to control the vehicle attitude and the attitude of various sensors such as cameras. This
* command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to
* this message.
*
* index = 1; label = Gimbal device ID;
* Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal
* device components. Send command multiple times for more than one gimbal (but not all gimbals).
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5; label = Latitude; units = degE7;
* Latitude of ROI location
*
* index = 6; label = Longitude; units = degE7;
* Longitude of ROI location
*
* index = 7; label = Altitude; units = m;
* Altitude of ROI location
*/
@GeneratedMavEnumEntry
DO_SET_ROI_LOCATION(195u),
/**
* Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw
* offset. This can then be used by the vehicle's control system to control the vehicle attitude and
* the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but
* not to a gimbal device. A gimbal device is not to react to this message.
*
* index = 1; label = Gimbal device ID;
* Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal
* device components. Send command multiple times for more than one gimbal (but not all gimbals).
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5; label = Pitch Offset; units = deg;
* Pitch offset from next waypoint, positive pitching up
*
* index = 6; label = Roll Offset; units = deg;
* Roll offset from next waypoint, positive rolling to the right
*
* index = 7; label = Yaw Offset; units = deg;
* Yaw offset from next waypoint, positive yawing to the right
*/
@GeneratedMavEnumEntry
DO_SET_ROI_WPNEXT_OFFSET(196u),
/**
* Cancels any previous ROI command returning the vehicle/sensors to default flight
* characteristics. This can then be used by the vehicle's control system to control the vehicle
* attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal
* manager but not to a gimbal device. A gimbal device is not to react to this message. After this
* command the gimbal manager should go back to manual input if available, and otherwise assume a
* neutral position.
*
* index = 1; label = Gimbal device ID;
* Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal
* device components. Send command multiple times for more than one gimbal (but not all gimbals).
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_SET_ROI_NONE(197u),
/**
* Mount tracks system with specified system ID. Determination of target vehicle position may be
* done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but
* not to a gimbal device. A gimbal device is not to react to this message.
*
* index = 1; label = System ID;
* System ID
*
* index = 2; label = Gimbal device ID;
* Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal
* device components. Send command multiple times for more than one gimbal (but not all gimbals).
*/
@GeneratedMavEnumEntry
DO_SET_ROI_SYSID(198u),
/**
* Control onboard camera system.
*
* index = 1; label = ID;
* Camera ID (-1 for all)
*
* index = 2; label = Transmission;
* Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw
*
* index = 3; label = Interval; units = s;
* Transmission mode: 0: video stream, >0: single images every n seconds
*
* index = 4; label = Recording;
* Recording: 0: disabled, 1: enabled compressed, 2: enabled raw
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_CONTROL_VIDEO(200u),
/**
* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used
* by the vehicle's control system to control the vehicle attitude and the attitude of various
* sensors such as cameras.
*
* index = 1; label = ROI Mode;
* Region of interest mode.
*
* index = 2; label = WP Index;
* Waypoint index/ target ID (depends on param 1).
*
* index = 3; label = ROI Index;
* Region of interest index. (allows a vehicle to manage multiple ROI's)
*
* index = 4;
* Empty
*
* index = 5;
* MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude
*
* index = 6;
* MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude
*
* index = 7;
* MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
DO_SET_ROI(201u),
/**
* Configure digital camera. This is a fallback message for systems that have not yet implemented
* PARAM_EXT_XXX messages and camera definition files (see
* https://mavlink.io/en/services/camera_def.html ).
*
* index = 1; label = Mode;
* Modes: P, TV, AV, M, Etc.
*
* index = 2; label = Shutter Speed;
* Shutter speed: Divisor number for one second.
*
* index = 3; label = Aperture;
* Aperture: F stop number.
*
* index = 4; label = ISO;
* ISO number e.g. 80, 100, 200, Etc.
*
* index = 5; label = Exposure;
* Exposure type enumerator.
*
* index = 6; label = Command Identity;
* Command Identity.
*
* index = 7; label = Engine Cut-off; units = ds;
* Main engine cut-off time before camera trigger. (0 means no cut-off)
*/
@GeneratedMavEnumEntry
DO_DIGICAM_CONFIGURE(202u),
/**
* Control digital camera. This is a fallback message for systems that have not yet implemented
* PARAM_EXT_XXX messages and camera definition files (see
* https://mavlink.io/en/services/camera_def.html ).
*
* index = 1; label = Session Control;
* Session control e.g. show/hide lens
*
* index = 2; label = Zoom Absolute;
* Zoom's absolute position
*
* index = 3; label = Zoom Relative;
* Zooming step value to offset zoom from the current position
*
* index = 4; label = Focus;
* Focus Locking, Unlocking or Re-locking
*
* index = 5; label = Shoot Command;
* Shooting Command
*
* index = 6; label = Command Identity;
* Command Identity
*
* index = 7; label = Shot ID;
* Test shot identifier. If set to 1, image will only be captured, but not counted towards
* internal frame count.
*/
@GeneratedMavEnumEntry
DO_DIGICAM_CONTROL(203u),
/**
* Mission command to configure a camera or antenna mount
*
* index = 1; label = Mode;
* Mount operation mode
*
* index = 2; label = Stabilize Roll;
* stabilize roll? (1 = yes, 0 = no)
*
* index = 3; label = Stabilize Pitch;
* stabilize pitch? (1 = yes, 0 = no)
*
* index = 4; label = Stabilize Yaw;
* stabilize yaw? (1 = yes, 0 = no)
*
* index = 5; label = Roll Input Mode;
* roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
*
* index = 6; label = Pitch Input Mode;
* pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
*
* index = 7; label = Yaw Input Mode;
* yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
*/
@Deprecated(message =
"This message has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE. The message can still be used to communicate with legacy gimbals implementing it.")
@GeneratedMavEnumEntry
DO_MOUNT_CONFIGURE(204u),
/**
* Mission command to control a camera or antenna mount
*
* index = 1; label = Pitch;
* pitch depending on mount mode (degrees or degrees/second depending on pitch input).
*
* index = 2; label = Roll;
* roll depending on mount mode (degrees or degrees/second depending on roll input).
*
* index = 3; label = Yaw;
* yaw depending on mount mode (degrees or degrees/second depending on yaw input).
*
* index = 4; label = Altitude; units = m;
* altitude depending on mount mode.
*
* index = 5; label = Latitude;
* latitude, set if appropriate mount mode.
*
* index = 6; label = Longitude;
* longitude, set if appropriate mount mode.
*
* index = 7; label = Mode;
* Mount mode.
*/
@Deprecated(message =
"This message is ambiguous and inconsistent. It has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW and `MAV_CMD_DO_SET_ROI_*` variants. The message can still be used to communicate with legacy gimbals implementing it.")
@GeneratedMavEnumEntry
DO_MOUNT_CONTROL(205u),
/**
* Mission command to set camera trigger distance for this flight. The camera is triggered each
* time this distance is exceeded. This command can also be used to set the shutter integration time
* for the camera.
*
* index = 1; label = Distance; units = m;
* Camera trigger distance. 0 to stop triggering.
*
* index = 2; label = Shutter; units = ms;
* Camera shutter integration time. -1 or 0 to ignore
*
* index = 3; label = Trigger;
* Trigger camera once immediately. (0 = no trigger, 1 = trigger)
*
* index = 4; label = Target Camera ID;
* Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the
* autopilot, which don't have a distinct component id. 0: all cameras. This is used to target
* specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD
* is used in a mission.
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_SET_CAM_TRIGG_DIST(206u),
/**
*
* Enable the geofence.
* This can be used in a mission or via the command protocol.
* The persistence/lifetime of the setting is undefined.
* Depending on flight stack implementation it may persist until superseded, or it may
* revert to a system default at the end of a mission.
* Flight stacks typically reset the setting to system defaults on reboot.
*
*
* index = 1; label = Enable;
* enable? (0=disable, 1=enable, 2=disable_floor_only)
*
* index = 2; label = Types;
* Fence types to enable or disable as a bitmask. A value of 0 indicates that all fences should be
* enabled or disabled. This parameter is ignored if param 1 has the value 2
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_FENCE_ENABLE(207u),
/**
* Mission item/command to release a parachute or enable/disable auto release.
*
* index = 1; label = Action;
* Action
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_PARACHUTE(208u),
/**
* Command to perform motor test.
*
* index = 1; label = Instance;
* Motor instance number (from 1 to max number of motors on the vehicle).
*
* index = 2; label = Throttle Type;
* Throttle type (whether the Throttle Value in param3 is a percentage, PWM value, etc.)
*
* index = 3; label = Throttle;
* Throttle value.
*
* index = 4; label = Timeout; units = s;
* Timeout between tests that are run in sequence.
*
* index = 5; label = Motor Count;
* Motor count. Number of motors to test in sequence: 0/1=one motor, 2= two motors, etc. The
* Timeout (param4) is used between tests.
*
* index = 6; label = Test Order;
* Motor test order.
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_MOTOR_TEST(209u),
/**
* Change to/from inverted flight.
*
* index = 1; label = Inverted;
* Inverted flight. (0=normal, 1=inverted)
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_INVERTED_FLIGHT(210u),
/**
* Mission command to operate a gripper.
*
* index = 1; label = Instance;
* Gripper instance number.
*
* index = 2; label = Action;
* Gripper action to perform.
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_GRIPPER(211u),
/**
* Enable/disable autotune.
*
* index = 1; label = Enable;
* Enable (1: enable, 0:disable).
*
* index = 2; label = Axis;
* Specify which axis are autotuned. 0 indicates autopilot default settings.
*
* index = 3;
* Empty.
*
* index = 4;
* Empty.
*
* index = 5;
* Empty.
*
* index = 6;
* Empty.
*
* index = 7;
* Empty.
*/
@GeneratedMavEnumEntry
DO_AUTOTUNE_ENABLE(212u),
/**
* Sets a desired vehicle turn angle and speed change.
*
* index = 1; label = Yaw; units = deg;
* Yaw angle to adjust steering by.
*
* index = 2; label = Speed; units = m/s;
* Speed.
*
* index = 3; label = Angle;
* Final angle. (0=absolute, 1=relative)
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
NAV_SET_YAW_SPEED(213u),
/**
* Mission command to set camera trigger interval for this flight. If triggering is enabled, the
* camera is triggered each time this interval expires. This command can also be used to set the
* shutter integration time for the camera.
*
* index = 1; label = Trigger Cycle; units = ms;
* Camera trigger cycle time. -1 or 0 to ignore.
*
* index = 2; label = Shutter Integration; units = ms;
* Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.
*
* index = 3; label = Target Camera ID;
* Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the
* autopilot, which don't have a distinct component id. 0: all cameras. This is used to target
* specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD
* is used in a mission.
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_SET_CAM_TRIGG_INTERVAL(214u),
/**
* Mission command to control a camera or antenna mount, using a quaternion as reference.
*
* index = 1; label = Q1;
* quaternion param q1, w (1 in null-rotation)
*
* index = 2; label = Q2;
* quaternion param q2, x (0 in null-rotation)
*
* index = 3; label = Q3;
* quaternion param q3, y (0 in null-rotation)
*
* index = 4; label = Q4;
* quaternion param q4, z (0 in null-rotation)
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
DO_MOUNT_CONTROL_QUAT(220u),
/**
* set id of master controller
*
* index = 1; label = System ID;
* System ID
*
* index = 2; label = Component ID;
* Component ID
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_GUIDED_MASTER(221u),
/**
* Set limits for external control
*
* index = 1; label = Timeout; units = s;
* Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no
* timeout.
*
* index = 2; label = Min Altitude; units = m;
* Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the
* mission will continue. 0 means no lower altitude limit.
*
* index = 3; label = Max Altitude; units = m;
* Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the
* mission will continue. 0 means no upper altitude limit.
*
* index = 4; label = Horiz. Move Limit; units = m;
* Horizontal move limit - if vehicle moves more than this distance from its location at the
* moment the command was executed, the command will be aborted and the mission will continue. 0
* means no horizontal move limit.
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_GUIDED_LIMITS(222u),
/**
* Control vehicle engine. This is interpreted by the vehicles engine controller to change the
* target engine state. It is intended for vehicles with internal combustion engines
*
* index = 1; label = Start Engine;
* 0: Stop engine, 1:Start Engine
*
* index = 2; label = Cold Start;
* 0: Warm start, 1:Cold start. Controls use of choke where applicable
*
* index = 3; label = Height Delay; units = m;
* Height delay. This is for commanding engine start only after the vehicle has gained the
* specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off
* the ground. Zero for no delay.
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_ENGINE_CONTROL(223u),
/**
*
* Set the mission item with sequence number seq as the current item and emit
* MISSION_CURRENT (whether or not the mission number changed).
* If a mission is currently being executed, the system will continue to this new
* mission item on the shortest path, skipping any intermediate mission items.
* Note that mission jump repeat counters are not reset unless param2 is set (see
* MAV_CMD_DO_JUMP param2).
*
* This command may trigger a mission state-machine change on some systems: for example
* from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE.
* If the system is in mission mode, on those systems this command might therefore
* start, restart or resume the mission.
* If the system is not in mission mode this command must not trigger a switch to
* mission mode.
*
* The mission may be "reset" using param2.
* Resetting sets jump counters to initial values (to reset counters without changing
* the current mission item set the param1 to `-1`).
* Resetting also explicitly changes a mission state of MISSION_STATE_COMPLETE to
* MISSION_STATE_PAUSED or MISSION_STATE_ACTIVE, potentially allowing it to resume when it is (next)
* in a mission mode.
*
* The command will ACK with MAV_RESULT_FAILED if the sequence number is out of range
* (including if there is no mission item).
*
*
* index = 1; label = Number;
* Mission sequence value to set. -1 for the current mission item (use to reset mission without
* changing current mission item).
*
* index = 2; label = Reset Mission;
* Resets mission. 1: true, 0: false. Resets jump counters to initial values and changes mission
* state "completed" to be "active" or "paused".
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_SET_MISSION_CURRENT(224u),
/**
* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration
*
* index = 1;
* Empty
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
DO_LAST(240u),
/**
* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for
* Temperature Calibration, only one sensor should be set in a single message and all others should
* be zero.
*
* index = 1; label = Gyro Temperature;
* 1: gyro calibration, 3: gyro temperature calibration
*
* index = 2; label = Magnetometer;
* 1: magnetometer calibration
*
* index = 3; label = Ground Pressure;
* 1: ground pressure calibration
*
* index = 4; label = Remote Control;
* 1: radio RC calibration, 2: RC trim calibration
*
* index = 5; label = Accelerometer;
* 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature
* calibration, 4: simple accelerometer calibration
*
* index = 6; label = Compmot or Airspeed;
* 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2:
* airspeed calibration
*
* index = 7; label = ESC or Baro;
* 1: ESC calibration, 3: barometer temperature calibration
*/
@GeneratedMavEnumEntry
PREFLIGHT_CALIBRATION(241u),
/**
* Set sensor offsets. This command will be only accepted if in pre-flight mode.
*
* index = 1; label = Sensor Type;
* Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4:
* optical flow, 5: second magnetometer, 6: third magnetometer
*
* index = 2; label = X Offset;
* X axis offset (or generic dimension 1), in the sensor's raw units
*
* index = 3; label = Y Offset;
* Y axis offset (or generic dimension 2), in the sensor's raw units
*
* index = 4; label = Z Offset;
* Z axis offset (or generic dimension 3), in the sensor's raw units
*
* index = 5; label = 4th Dimension;
* Generic dimension 4, in the sensor's raw units
*
* index = 6; label = 5th Dimension;
* Generic dimension 5, in the sensor's raw units
*
* index = 7; label = 6th Dimension;
* Generic dimension 6, in the sensor's raw units
*/
@GeneratedMavEnumEntry
PREFLIGHT_SET_SENSOR_OFFSETS(242u),
/**
* Trigger UAVCAN configuration (actuator ID assignment and direction mapping). Note that this
* maps to the legacy UAVCAN v0 function UAVCAN_ENUMERATE, which is intended to be executed just once
* during initial vehicle configuration (it is not a normal pre-flight command and has been poorly
* named).
*
* index = 1; label = Actuator ID;
* 1: Trigger actuator ID assignment and direction mapping. 0: Cancel command.
*
* index = 2;
* Reserved
*
* index = 3;
* Reserved
*
* index = 4;
* Reserved
*
* index = 5;
* Reserved
*
* index = 6;
* Reserved
*
* index = 7;
* Reserved
*/
@GeneratedMavEnumEntry
PREFLIGHT_UAVCAN(243u),
/**
* Request storage of different parameter values and logs. This command will be only accepted if
* in pre-flight mode.
*
* index = 1; label = Parameter Storage;
* Action to perform on the persistent parameter storage
*
* index = 2; label = Mission Storage;
* Action to perform on the persistent mission storage
*
* index = 3; label = Logging Rate; units = Hz;
* Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: logging rate
* (e.g. set to 1000 for 1000 Hz logging)
*
* index = 4;
* Reserved
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
PREFLIGHT_STORAGE(245u),
/**
* Request the reboot or shutdown of system components.
*
* index = 1; label = Autopilot;
* 0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot
* and keep it in the bootloader until upgraded.
*
* index = 2; label = Companion;
* 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer,
* 3: Reboot onboard computer and keep it in the bootloader until upgraded.
*
* index = 3; label = Component action;
* 0: Do nothing for component, 1: Reboot component, 2: Shutdown component, 3: Reboot component
* and keep it in the bootloader until upgraded
*
* index = 4; label = Component ID;
* MAVLink Component ID targeted in param3 (0 for all components).
*
* index = 5;
* Reserved (set to 0)
*
* index = 6;
* Reserved (set to 0)
*
* index = 7;
* WIP: ID (e.g. camera ID -1 for all IDs)
*/
@GeneratedMavEnumEntry
PREFLIGHT_REBOOT_SHUTDOWN(246u),
/**
* Override current mission with command to pause mission, pause mission and move to position,
* continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD),
* param 2 defines whether it holds in place or moves to another position.
*
* index = 1; label = Continue;
* MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on
* param2), MAV_GOTO_DO_CONTINUE: resume mission.
*
* index = 2; label = Position;
* MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position,
* MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.
*
* index = 3; label = Frame;
* Coordinate frame of hold point.
*
* index = 4; label = Yaw; units = deg;
* Desired yaw angle.
*
* index = 5; label = Latitude/X;
* Latitude/X position.
*
* index = 6; label = Longitude/Y;
* Longitude/Y position.
*
* index = 7; label = Altitude/Z;
* Altitude/Z position.
*/
@GeneratedMavEnumEntry
OVERRIDE_GOTO(252u),
/**
* Mission command to set a Camera Auto Mount Pivoting Oblique Survey (Replaces CAM_TRIGG_DIST for
* this purpose). The camera is triggered each time this distance is exceeded, then the mount moves
* to the next position. Params 4~6 set-up the angle limits and number of positions for oblique
* survey, where mount-enabled vehicles automatically roll the camera between shots to emulate an
* oblique camera setup (providing an increased HFOV). This command can also be used to set the
* shutter integration time for the camera.
*
* index = 1; label = Distance; units = m;
* Camera trigger distance. 0 to stop triggering.
*
* index = 2; label = Shutter; units = ms;
* Camera shutter integration time. 0 to ignore
*
* index = 3; label = Min Interval; units = ms;
* The minimum interval in which the camera is capable of taking subsequent pictures repeatedly. 0
* to ignore.
*
* index = 4; label = Positions;
* Total number of roll positions at which the camera will capture photos (images captures spread
* evenly across the limits defined by param5).
*
* index = 5; label = Roll Angle; units = deg;
* Angle limits that the camera can be rolled to left and right of center.
*
* index = 6; label = Pitch Angle; units = deg;
* Fixed pitch angle that the camera will hold in oblique mode if the mount is actuated in the
* pitch axis.
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
OBLIQUE_SURVEY(260u),
/**
* start running a mission
*
* index = 1; label = First Item;
* first_item: the first mission item to run
*
* index = 2; label = Last Item;
* last_item: the last mission item to run (after this item is run, the mission ends)
*/
@GeneratedMavEnumEntry
MISSION_START(300u),
/**
* Actuator testing command. This is similar to MAV_CMD_DO_MOTOR_TEST but operates on the level of
* output functions, i.e. it is possible to test Motor1 independent from which output it is
* configured on. Autopilots typically refuse this command while armed.
*
* index = 1; label = Value;
* Output value: 1 means maximum positive output, 0 to center servos or minimum motor thrust
* (expected to spin), -1 for maximum negative (if not supported by the motors, i.e. motor is not
* reversible, smaller than 0 maps to NaN). And NaN maps to disarmed (stop the motors).
*
* index = 2; label = Timeout; units = s;
* Timeout after which the test command expires and the output is restored to the previous value.
* A timeout has to be set for safety reasons. A timeout of 0 means to restore the previous value
* immediately.
*
* index = 3; index = 4; index = 5; label = Output Function;
* Actuator Output function
*
* index = 6; index = 7;
*/
@GeneratedMavEnumEntry
ACTUATOR_TEST(310u),
/**
* Actuator configuration command.
*
* index = 1; label = Configuration;
* Actuator configuration action
*
* index = 2; index = 3; index = 4; index = 5; label = Output Function;
* Actuator Output function
*
* index = 6; index = 7;
*/
@GeneratedMavEnumEntry
CONFIGURE_ACTUATOR(311u),
/**
* Arms / Disarms a component
*
* index = 1; label = Arm;
* 0: disarm, 1: arm
*
* index = 2; label = Force;
* 0: arm-disarm unless prevented by safety checks (i.e. when landed), 21196: force
* arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)
*/
@GeneratedMavEnumEntry
COMPONENT_ARM_DISARM(400u),
/**
* Instructs a target system to run pre-arm checks.
* This allows preflight checks to be run on demand, which may be useful on systems that
* normally run them at low rate, or which do not trigger checks when the armable state might have
* changed.
* This command should return MAV_RESULT_ACCEPTED if it will run the checks.
* The results of the checks are usually then reported in SYS_STATUS messages (this is
* system-specific).
* The command should return MAV_RESULT_TEMPORARILY_REJECTED if the system is already
* armed.
*
*/
@GeneratedMavEnumEntry
RUN_PREARM_CHECKS(401u),
/**
* Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark
* areas external to the system: e.g. a torch or searchlight (as opposed to a light source for
* illuminating the system itself, e.g. an indicator light).
*
* index = 1; label = Enable;
* 0: Illuminators OFF, 1: Illuminators ON
*/
@GeneratedMavEnumEntry
ILLUMINATOR_ON_OFF(405u),
/**
* Configures illuminator settings. An illuminator is a light source that is used for lighting up
* dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for
* illuminating the system itself, e.g. an indicator light).
*
* index = 1; label = Mode;
* Mode
*
* index = 2; label = Brightness; units = %;
* 0%: Off, 100%: Max Brightness
*
* index = 3; label = Strobe Period; units = s;
* Strobe period in seconds where 0 means strobing is not used
*
* index = 4; label = Strobe Duty; units = %;
* Strobe duty cycle where 100% means it is on constantly and 0 means strobing is not used
*/
@GeneratedMavEnumEntry
DO_ILLUMINATOR_CONFIGURE(406u),
/**
* Request the home position from the vehicle.
* The vehicle will ACK the command and then emit the HOME_POSITION message.
*
* index = 1;
* Reserved
*
* index = 2;
* Reserved
*
* index = 3;
* Reserved
*
* index = 4;
* Reserved
*
* index = 5;
* Reserved
*
* index = 6;
* Reserved
*
* index = 7;
* Reserved
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
GET_HOME_POSITION(410u),
/**
* Inject artificial failure for testing purposes. Note that autopilots should implement an
* additional protection before accepting this command such as a specific param setting.
*
* index = 1; label = Failure unit;
* The unit which is affected by the failure.
*
* index = 2; label = Failure type;
* The type how the failure manifests itself.
*
* index = 3; label = Instance;
* Instance affected by failure (0 to signal all).
*/
@GeneratedMavEnumEntry
INJECT_FAILURE(420u),
/**
* Starts receiver pairing.
*
* index = 1; label = Spektrum;
* 0:Spektrum.
*
* index = 2; label = RC Type;
* RC type.
*/
@GeneratedMavEnumEntry
START_RX_PAIR(500u),
/**
*
* Request the interval between messages for a particular MAVLink message ID.
* The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL
* message.
*
*
* index = 1; label = Message ID;
* The MAVLink message ID
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
GET_MESSAGE_INTERVAL(510u),
/**
* Set the interval between messages for a particular MAVLink message ID. This interface replaces
* REQUEST_DATA_STREAM.
*
* index = 1; label = Message ID;
* The MAVLink message ID
*
* index = 2; label = Interval; units = us;
* The interval between two messages. -1: disable. 0: request default rate (which may be zero).
*
* index = 3; label = Req Param 3;
* Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in
* the requested message. By default assumed not used (0).
*
* index = 4; label = Req Param 4;
* The use of this parameter (if any), must be defined in the requested message. By default
* assumed not used (0).
*
* index = 5; label = Req Param 5;
* The use of this parameter (if any), must be defined in the requested message. By default
* assumed not used (0).
*
* index = 6; label = Req Param 6;
* The use of this parameter (if any), must be defined in the requested message. By default
* assumed not used (0).
*
* index = 7; label = Response Target;
* Target address of message stream (if message has target address fields). 0: Flight-stack
* default (recommended), 1: address of requestor, 2: broadcast.
*/
@GeneratedMavEnumEntry
SET_MESSAGE_INTERVAL(511u),
/**
* Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot"
* version of MAV_CMD_SET_MESSAGE_INTERVAL).
*
* index = 1; label = Message ID;
* The MAVLink message ID of the requested message.
*
* index = 2; label = Req Param 1;
* Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in
* the requested message. By default assumed not used (0).
*
* index = 3; label = Req Param 2;
* The use of this parameter (if any), must be defined in the requested message. By default
* assumed not used (0).
*
* index = 4; label = Req Param 3;
* The use of this parameter (if any), must be defined in the requested message. By default
* assumed not used (0).
*
* index = 5; label = Req Param 4;
* The use of this parameter (if any), must be defined in the requested message. By default
* assumed not used (0).
*
* index = 6; label = Req Param 5;
* The use of this parameter (if any), must be defined in the requested message. By default
* assumed not used (0).
*
* index = 7; label = Response Target;
* Target address for requested message (if message has target address fields). 0: Flight-stack
* default, 1: address of requestor, 2: broadcast.
*/
@GeneratedMavEnumEntry
REQUEST_MESSAGE(512u),
/**
* Request MAVLink protocol version compatibility. All receivers should ACK the command and then
* emit their capabilities in an PROTOCOL_VERSION message
*
* index = 1; label = Protocol;
* 1: Request supported protocol versions by all nodes on the network
*
* index = 2;
* Reserved (all remaining params)
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
REQUEST_PROTOCOL_VERSION(519u),
/**
* Request autopilot capabilities. The receiver should ACK the command and then emit its
* capabilities in an AUTOPILOT_VERSION message
*
* index = 1; label = Version;
* 1: Request autopilot version
*
* index = 2;
* Reserved (all remaining params)
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
REQUEST_AUTOPILOT_CAPABILITIES(520u),
/**
* Request camera information (CAMERA_INFORMATION).
*
* index = 1; label = Capabilities;
* 0: No action 1: Request camera capabilities
*
* index = 2;
* Reserved (all remaining params)
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
REQUEST_CAMERA_INFORMATION(521u),
/**
* Request camera settings (CAMERA_SETTINGS).
*
* index = 1; label = Settings;
* 0: No Action 1: Request camera settings
*
* index = 2;
* Reserved (all remaining params)
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
REQUEST_CAMERA_SETTINGS(522u),
/**
* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target
* a specific component's storage.
*
* index = 1; label = Storage ID;
* Storage ID (0 for all, 1 for first, 2 for second, etc.)
*
* index = 2; label = Information;
* 0: No Action 1: Request storage information
*
* index = 3;
* Reserved (all remaining params)
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
REQUEST_STORAGE_INFORMATION(525u),
/**
* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use
* the command's target_component to target a specific component's storage.
*
* index = 1; label = Storage ID;
* Storage ID (1 for first, 2 for second, etc.)
*
* index = 2; label = Format;
* Format storage (and reset image log). 0: No action 1: Format storage
*
* index = 3; label = Reset Image Log;
* Reset Image Log (without formatting storage medium). This will reset
* CAMERA_CAPTURE_STATUS.image_count and CAMERA_IMAGE_CAPTURED.image_index. 0: No action 1: Reset
* Image Log
*
* index = 4;
* Reserved (all remaining params)
*/
@GeneratedMavEnumEntry
STORAGE_FORMAT(526u),
/**
* Request camera capture status (CAMERA_CAPTURE_STATUS)
*
* index = 1; label = Capture Status;
* 0: No Action 1: Request camera capture status
*
* index = 2;
* Reserved (all remaining params)
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
REQUEST_CAMERA_CAPTURE_STATUS(527u),
/**
* Request flight information (FLIGHT_INFORMATION)
*
* index = 1; label = Flight Information;
* 1: Request flight information
*
* index = 2;
* Reserved (all remaining params)
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
REQUEST_FLIGHT_INFORMATION(528u),
/**
* Reset all camera settings to Factory Default
*
* index = 1; label = Reset;
* 0: No Action 1: Reset all settings
*
* index = 2; label = Target Camera ID;
* Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the
* autopilot, which don't have a distinct component id. 0: all cameras. This is used to target
* specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD
* is used in a mission.
*/
@GeneratedMavEnumEntry
RESET_CAMERA_SETTINGS(529u),
/**
* Set camera running mode. Use NaN for reserved values. GCS will send a
* MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video
* streaming.
*
* index = 1; label = id;
* Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the
* autopilot, which don't have a distinct component id. 0: all cameras. This is used to target
* specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD
* is used in a mission.
*
* index = 2; label = Camera Mode;
* Camera mode
*
* index = 3; index = 4; index = 7;
*/
@GeneratedMavEnumEntry
SET_CAMERA_MODE(530u),
/**
* Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success).
*
* index = 1; label = Zoom Type;
* Zoom type
*
* index = 2; label = Zoom Value;
* Zoom value. The range of valid values depend on the zoom type.
*
* index = 3; label = Target Camera ID;
* Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the
* autopilot, which don't have a distinct component id. 0: all cameras. This is used to target
* specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD
* is used in a mission.
*
* index = 4;
*/
@GeneratedMavEnumEntry
SET_CAMERA_ZOOM(531u),
/**
* Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success).
*
* index = 1; label = Focus Type;
* Focus type
*
* index = 2; label = Focus Value;
* Focus value
*
* index = 3; label = Target Camera ID;
* Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the
* autopilot, which don't have a distinct component id. 0: all cameras. This is used to target
* specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD
* is used in a mission.
*
* index = 4;
*/
@GeneratedMavEnumEntry
SET_CAMERA_FOCUS(532u),
/**
* Set that a particular storage is the preferred location for saving photos, videos, and/or other
* media (e.g. to set that an SD card is used for storing videos).
* There can only be one preferred save location for each particular media type: setting
* a media usage flag will clear/reset that same flag if set on any other storage.
* If no flag is set the system should use its default storage.
* A target system can choose to always use default storage, in which case it should ACK
* the command with MAV_RESULT_UNSUPPORTED.
* A target system can choose to not allow a particular storage to be set as preferred
* storage, in which case it should ACK the command with MAV_RESULT_DENIED.
*
* index = 1; label = Storage ID;
* Storage ID (1 for first, 2 for second, etc.)
*
* index = 2; label = Usage;
* Usage flags
*/
@GeneratedMavEnumEntry
SET_STORAGE_USAGE(533u),
/**
* Set camera source. Changes the camera's active sources on cameras with multiple image sensors.
*
* index = 1; label = device id;
* Component Id of camera to address or 1-6 for non-MAVLink cameras, 0 for all cameras.
*
* index = 2; label = primary source;
* Primary Source
*
* index = 3; label = secondary source;
* Secondary Source. If non-zero the second source will be displayed as picture-in-picture.
*/
@GeneratedMavEnumEntry
SET_CAMERA_SOURCE(534u),
/**
* Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.
*
* index = 1; label = Tag;
* Tag.
*/
@GeneratedMavEnumEntry
JUMP_TAG(600u),
/**
* Jump to the matching tag in the mission list. Repeat this action for the specified number of
* times. A mission should contain a single matching tag for each jump. If this is not the case then
* a jump to a missing tag should complete the mission, and a jump where there are multiple matching
* tags should always select the one with the lowest mission sequence number.
*
* index = 1; label = Tag;
* Target tag to jump to.
*
* index = 2; label = Repeat;
* Repeat count.
*/
@GeneratedMavEnumEntry
DO_JUMP_TAG(601u),
/**
* Set gimbal manager pitch/yaw setpoints (low rate command). It is possible to set combinations
* of the values below. E.g. an angle as well as a desired angular rate can be used to get to this
* angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is
* to be used to signal unset. Note: only the gimbal manager will react to this command - it will be
* ignored by a gimbal device. Use GIMBAL_MANAGER_SET_PITCHYAW if you need to stream pitch/yaw
* setpoints at higher rate.
*
* index = 1; label = Pitch angle; units = deg;
* Pitch angle (positive to pitch up, relative to vehicle for FOLLOW mode, relative to world
* horizon for LOCK mode).
*
* index = 2; label = Yaw angle; units = deg;
* Yaw angle (positive to yaw to the right, relative to vehicle for FOLLOW mode, absolute to North
* for LOCK mode).
*
* index = 3; label = Pitch rate; units = deg/s;
* Pitch rate (positive to pitch up).
*
* index = 4; label = Yaw rate; units = deg/s;
* Yaw rate (positive to yaw to the right).
*
* index = 5; label = Gimbal manager flags;
* Gimbal manager flags to use.
*
* index = 7; label = Gimbal device ID;
* Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal
* device components. Send command multiple times for more than one gimbal (but not all gimbals).
*/
@GeneratedMavEnumEntry
DO_GIMBAL_MANAGER_PITCHYAW(1_000u),
/**
* Gimbal configuration to set which sysid/compid is in primary and secondary control.
*
* index = 1; label = sysid primary control;
* Sysid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control
* (for missions where the own sysid is still unknown), -3: remove control if currently in control).
*
* index = 2; label = compid primary control;
* Compid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in
* control (for missions where the own sysid is still unknown), -3: remove control if currently in
* control).
*
* index = 3; label = sysid secondary control;
* Sysid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in
* control (for missions where the own sysid is still unknown), -3: remove control if currently in
* control).
*
* index = 4; label = compid secondary control;
* Compid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in
* control (for missions where the own sysid is still unknown), -3: remove control if currently in
* control).
*
* index = 7; label = Gimbal device ID;
* Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal
* device components. Send command multiple times for more than one gimbal (but not all gimbals).
*/
@GeneratedMavEnumEntry
DO_GIMBAL_MANAGER_CONFIGURE(1_001u),
/**
* Start image capture sequence. CAMERA_IMAGE_CAPTURED must be emitted after each capture.
*
* Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6:
* autopilot-connected cameras, 7-255: MAVLink camera component ID.
* It is needed in order to target specific cameras connected to the autopilot, or
* specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID).
* It is also needed to specify the target camera in missions.
*
* When used in a mission, an autopilot should execute the MAV_CMD for a specified local
* camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 =
* 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the
* command to zero).
* If the param1 is 0 the autopilot should do both.
*
* When sent in a command the target MAVLink address is set using target_component.
* If addressed specifically to an autopilot: param1 should be used in the same way as
* it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera
* does not exist).
* If addressed to a MAVLink camera, param 1 can be used to address all cameras (0), or
* to separately address 1 to 7 individual sensors. Other values should be NACKed with
* MAV_RESULT_DENIED.
* If the command is broadcast (target_component is 0) then param 1 should be set to 0
* (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local
* cameras and forward the command to all channels.
*
*
* index = 1; label = Target Camera ID;
* Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the
* autopilot, which don't have a distinct component id. 0: all cameras. This is used to target
* specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD
* is used in a mission.
*
* index = 2; label = Interval; units = s;
* Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on
* hardware (typically greater than 2 seconds).
*
* index = 3; label = Total Images;
* Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.
*
* index = 4; label = Sequence Number;
* Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1),
* otherwise set to 0. Increment the capture ID for each capture command to prevent double captures
* when a command is re-transmitted.
*
* index = 5; index = 6; index = 7;
*/
@GeneratedMavEnumEntry
IMAGE_START_CAPTURE(2_000u),
/**
* Stop image capture sequence.
*
* Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6:
* autopilot-connected cameras, 7-255: MAVLink camera component ID.
* It is needed in order to target specific cameras connected to the autopilot, or
* specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID).
* It is also needed to specify the target camera in missions.
*
* When used in a mission, an autopilot should execute the MAV_CMD for a specified local
* camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 =
* 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the
* command to zero).
* If the param1 is 0 the autopilot should do both.
*
* When sent in a command the target MAVLink address is set using target_component.
* If addressed specifically to an autopilot: param1 should be used in the same way as
* it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera
* does not exist).
* If addressed to a MAVLink camera, param1 can be used to address all cameras (0), or
* to separately address 1 to 7 individual sensors. Other values should be NACKed with
* MAV_RESULT_DENIED.
* If the command is broadcast (target_component is 0) then param 1 should be set to 0
* (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local
* cameras and forward the command to all channels.
*
*
* index = 1; label = Target Camera ID;
* Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the
* autopilot, which don't have a distinct component id. 0: all cameras. This is used to target
* specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD
* is used in a mission.
*
* index = 2; index = 3; index = 4; index = 5; index = 6; index = 7;
*/
@GeneratedMavEnumEntry
IMAGE_STOP_CAPTURE(2_001u),
/**
* Re-request a CAMERA_IMAGE_CAPTURED message.
*
* index = 1; label = Number;
* Sequence number for missing CAMERA_IMAGE_CAPTURED message
*
* index = 2; index = 3; index = 4; index = 5; index = 6; index = 7;
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
REQUEST_CAMERA_IMAGE_CAPTURE(2_002u),
/**
* Enable or disable on-board camera triggering system.
*
* index = 1; label = Enable;
* Trigger enable/disable (0 for disable, 1 for start), -1 to ignore
*
* index = 2; label = Reset;
* 1 to reset the trigger sequence, -1 or 0 to ignore
*
* index = 3; label = Pause;
* 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore
*
* index = 4; label = Target Camera ID;
* Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the
* autopilot, which don't have a distinct component id. 0: all cameras. This is used to target
* specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD
* is used in a mission.
*/
@GeneratedMavEnumEntry
DO_TRIGGER_CONTROL(2_003u),
/**
* If the camera supports point visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set), this
* command allows to initiate the tracking.
*
* index = 1; label = Point x;
* Point to track x value (normalized 0..1, 0 is left, 1 is right).
*
* index = 2; label = Point y;
* Point to track y value (normalized 0..1, 0 is top, 1 is bottom).
*
* index = 3; label = Radius;
* Point radius (normalized 0..1, 0 is one pixel, 1 is full image width).
*
* index = 4; label = Target Camera ID;
* Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the
* autopilot, which don't have a distinct component id. 0: all cameras. This is used to target
* specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD
* is used in a mission.
*/
@GeneratedMavEnumEntry
CAMERA_TRACK_POINT(2_004u),
/**
* If the camera supports rectangle visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is
* set), this command allows to initiate the tracking.
*
* index = 1; label = Top left corner x;
* Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).
*
* index = 2; label = Top left corner y;
* Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).
*
* index = 3; label = Bottom right corner x;
* Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).
*
* index = 4; label = Bottom right corner y;
* Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).
*
* index = 5; label = Target Camera ID;
* Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the
* autopilot, which don't have a distinct component id. 0: all cameras. This is used to target
* specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD
* is used in a mission.
*/
@GeneratedMavEnumEntry
CAMERA_TRACK_RECTANGLE(2_005u),
/**
* Stops ongoing tracking.
*
* index = 1; label = Target Camera ID;
* Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the
* autopilot, which don't have a distinct component id. 0: all cameras. This is used to target
* specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD
* is used in a mission.
*/
@GeneratedMavEnumEntry
CAMERA_STOP_TRACKING(2_010u),
/**
* Starts video capture (recording).
*
* index = 1; label = Stream ID;
* Video Stream ID (0 for all streams)
*
* index = 2; label = Status Frequency; units = Hz;
* Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages,
* otherwise frequency)
*
* index = 3; label = Target Camera ID;
* Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the
* autopilot, which don't have a distinct component id. 0: all cameras. This is used to target
* specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD
* is used in a mission.
*
* index = 4; index = 5; index = 6; index = 7;
*/
@GeneratedMavEnumEntry
VIDEO_START_CAPTURE(2_500u),
/**
* Stop the current video capture (recording).
*
* index = 1; label = Stream ID;
* Video Stream ID (0 for all streams)
*
* index = 2; label = Target Camera ID;
* Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the
* autopilot, which don't have a distinct component id. 0: all cameras. This is used to target
* specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD
* is used in a mission.
*
* index = 3; index = 4; index = 5; index = 6; index = 7;
*/
@GeneratedMavEnumEntry
VIDEO_STOP_CAPTURE(2_501u),
/**
* Start video streaming
*
* index = 1; label = Stream ID;
* Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)
*
* index = 2; label = Target Camera ID;
* Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the
* autopilot, which don't have a distinct component id. 0: all cameras. This is used to target
* specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD
* is used in a mission.
*/
@GeneratedMavEnumEntry
VIDEO_START_STREAMING(2_502u),
/**
* Stop the given video stream
*
* index = 1; label = Stream ID;
* Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)
*
* index = 2; label = Target Camera ID;
* Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the
* autopilot, which don't have a distinct component id. 0: all cameras. This is used to target
* specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD
* is used in a mission.
*/
@GeneratedMavEnumEntry
VIDEO_STOP_STREAMING(2_503u),
/**
* Request video stream information (VIDEO_STREAM_INFORMATION)
*
* index = 1; label = Stream ID;
* Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
REQUEST_VIDEO_STREAM_INFORMATION(2_504u),
/**
* Request video stream status (VIDEO_STREAM_STATUS)
*
* index = 1; label = Stream ID;
* Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
REQUEST_VIDEO_STREAM_STATUS(2_505u),
/**
* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)
*
* index = 1; label = Format;
* Format: 0: ULog
*
* index = 2;
* Reserved (set to 0)
*
* index = 3;
* Reserved (set to 0)
*
* index = 4;
* Reserved (set to 0)
*
* index = 5;
* Reserved (set to 0)
*
* index = 6;
* Reserved (set to 0)
*
* index = 7;
* Reserved (set to 0)
*/
@GeneratedMavEnumEntry
LOGGING_START(2_510u),
/**
* Request to stop streaming log data over MAVLink
*
* index = 1;
* Reserved (set to 0)
*
* index = 2;
* Reserved (set to 0)
*
* index = 3;
* Reserved (set to 0)
*
* index = 4;
* Reserved (set to 0)
*
* index = 5;
* Reserved (set to 0)
*
* index = 6;
* Reserved (set to 0)
*
* index = 7;
* Reserved (set to 0)
*/
@GeneratedMavEnumEntry
LOGGING_STOP(2_511u),
/**
*
*
* index = 1; label = Landing Gear ID;
* Landing gear ID (default: 0, -1 for all)
*
* index = 2; label = Landing Gear Position;
* Landing gear position (Down: 0, Up: 1, NaN for no change)
*
* index = 3; index = 4; index = 5; index = 6; index = 7;
*/
@GeneratedMavEnumEntry
AIRFRAME_CONFIGURATION(2_520u),
/**
* Request to start/stop transmitting over the high latency telemetry
*
* index = 1; label = Enable;
* Control transmission over high latency telemetry (0: stop, 1: start)
*
* index = 2;
* Empty
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5;
* Empty
*
* index = 6;
* Empty
*
* index = 7;
* Empty
*/
@GeneratedMavEnumEntry
CONTROL_HIGH_LATENCY(2_600u),
/**
* Create a panorama at the current position
*
* index = 1; label = Horizontal Angle; units = deg;
* Viewing angle horizontal of the panorama (+- 0.5 the total angle)
*
* index = 2; label = Vertical Angle; units = deg;
* Viewing angle vertical of panorama.
*
* index = 3; label = Horizontal Speed; units = deg/s;
* Speed of the horizontal rotation.
*
* index = 4; label = Vertical Speed; units = deg/s;
* Speed of the vertical rotation.
*/
@GeneratedMavEnumEntry
PANORAMA_CREATE(2_800u),
/**
* Request VTOL transition
*
* index = 1; label = State;
* The target VTOL state. For normal transitions, only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can
* be used.
*
* index = 2; label = Immediate;
* Force immediate transition to the specified MAV_VTOL_STATE. 1: Force immediate, 0: normal
* transition. Can be used, for example, to trigger an emergency "Quadchute". Caution: Can be
* dangerous/damage vehicle, depending on autopilot implementation of this command.
*/
@GeneratedMavEnumEntry
DO_VTOL_TRANSITION(3_000u),
/**
* Request authorization to arm the vehicle to a external entity, the arm authorizer is
* responsible to request all data that is needs from the vehicle before authorize or deny the
* request.
* If approved the COMMAND_ACK message progress field should be set with period of time that
* this authorization is valid in seconds.
* If the authorization is denied COMMAND_ACK.result_param2 should be set with one of the
* reasons in ARM_AUTH_DENIED_REASON.
*
*
* index = 1; label = System ID;
* Vehicle system id, this way ground station can request arm authorization on behalf of any
* vehicle
*/
@GeneratedMavEnumEntry
ARM_AUTHORIZATION_REQUEST(3_001u),
/**
* This command sets the submode to standard guided when vehicle is in guided mode. The vehicle
* holds position and altitude and the user can input the desired velocities along all three axes.
*
*/
@GeneratedMavEnumEntry
SET_GUIDED_SUBMODE_STANDARD(4_000u),
/**
* This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle
* facing the center of the circle. The user can input the velocity along the circle and change the
* radius. If no input is given the vehicle will hold position.
*
*
* index = 1; label = Radius; units = m;
* Radius of desired circle in CIRCLE_MODE
*
* index = 2;
* User defined
*
* index = 3;
* User defined
*
* index = 4;
* User defined
*
* index = 5; label = Latitude; units = degE7;
* Target latitude of center of circle in CIRCLE_MODE
*
* index = 6; label = Longitude; units = degE7;
* Target longitude of center of circle in CIRCLE_MODE
*/
@GeneratedMavEnumEntry
SET_GUIDED_SUBMODE_CIRCLE(4_001u),
/**
* Delay mission state machine until gate has been reached.
*
* index = 1; label = Geometry;
* Geometry: 0: orthogonal to path between previous and next waypoint.
*
* index = 2; label = UseAltitude;
* Altitude: 0: ignore altitude
*
* index = 3;
* Empty
*
* index = 4;
* Empty
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Altitude; units = m;
* Altitude
*/
@WorkInProgress
@GeneratedMavEnumEntry
CONDITION_GATE(4_501u),
/**
* Fence return point (there can only be one such point in a geofence definition). If rally points
* are supported they should be used instead.
*
* index = 1;
* Reserved
*
* index = 2;
* Reserved
*
* index = 3;
* Reserved
*
* index = 4;
* Reserved
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Altitude; units = m;
* Altitude
*/
@GeneratedMavEnumEntry
NAV_FENCE_RETURN_POINT(5_000u),
/**
* Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle
* must stay within this area. Minimum of 3 vertices required.
*
*
* index = 1; label = Vertex Count;
* Polygon vertex count
*
* index = 2; label = Inclusion Group;
* Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least
* one group, must be the same for all points in each polygon
*
* index = 3;
* Reserved
*
* index = 4;
* Reserved
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7;
* Reserved
*/
@GeneratedMavEnumEntry
NAV_FENCE_POLYGON_VERTEX_INCLUSION(5_001u),
/**
* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle
* must stay outside this area. Minimum of 3 vertices required.
*
*
* index = 1; label = Vertex Count;
* Polygon vertex count
*
* index = 2;
* Reserved
*
* index = 3;
* Reserved
*
* index = 4;
* Reserved
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7;
* Reserved
*/
@GeneratedMavEnumEntry
NAV_FENCE_POLYGON_VERTEX_EXCLUSION(5_002u),
/**
* Circular fence area. The vehicle must stay inside this area.
*
*
* index = 1; label = Radius; units = m;
* Radius.
*
* index = 2; label = Inclusion Group;
* Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least
* one group
*
* index = 3;
* Reserved
*
* index = 4;
* Reserved
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7;
* Reserved
*/
@GeneratedMavEnumEntry
NAV_FENCE_CIRCLE_INCLUSION(5_003u),
/**
* Circular fence area. The vehicle must stay outside this area.
*
*
* index = 1; label = Radius; units = m;
* Radius.
*
* index = 2;
* Reserved
*
* index = 3;
* Reserved
*
* index = 4;
* Reserved
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7;
* Reserved
*/
@GeneratedMavEnumEntry
NAV_FENCE_CIRCLE_EXCLUSION(5_004u),
/**
* Rally point. You can have multiple rally points defined.
*
*
* index = 1;
* Reserved
*
* index = 2;
* Reserved
*
* index = 3;
* Reserved
*
* index = 4;
* Reserved
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Altitude; units = m;
* Altitude
*/
@GeneratedMavEnumEntry
NAV_RALLY_POINT(5_100u),
/**
* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per
* every UAVCAN node that is online. Note that some of the response messages can be lost, which the
* receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching
* message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to
* request re-transmission of the node information messages.
*
* index = 1;
* Reserved (set to 0)
*
* index = 2;
* Reserved (set to 0)
*
* index = 3;
* Reserved (set to 0)
*
* index = 4;
* Reserved (set to 0)
*
* index = 5;
* Reserved (set to 0)
*
* index = 6;
* Reserved (set to 0)
*
* index = 7;
* Reserved (set to 0)
*/
@GeneratedMavEnumEntry
UAVCAN_GET_NODE_INFO(5_200u),
/**
* Change state of safety switch.
*
* index = 1; label = Desired State;
* New safety switch state.
*
* index = 2;
* Empty.
*
* index = 3;
* Empty.
*
* index = 4;
* Empty
*
* index = 5;
* Empty.
*
* index = 6;
* Empty.
*
* index = 7;
* Empty.
*/
@GeneratedMavEnumEntry
DO_SET_SAFETY_SWITCH_STATE(5_300u),
/**
* Trigger the start of an ADSB-out IDENT. This should only be used when requested to do so by an
* Air Traffic Controller in controlled airspace. This starts the IDENT which is then typically held
* for 18 seconds by the hardware per the Mode A, C, and S transponder spec.
*
* index = 1;
* Reserved (set to 0)
*
* index = 2;
* Reserved (set to 0)
*
* index = 3;
* Reserved (set to 0)
*
* index = 4;
* Reserved (set to 0)
*
* index = 5;
* Reserved (set to 0)
*
* index = 6;
* Reserved (set to 0)
*
* index = 7;
* Reserved (set to 0)
*/
@GeneratedMavEnumEntry
DO_ADSB_OUT_IDENT(10_001u),
/**
* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the
* required release position and velocity.
*
* index = 1; label = Operation Mode;
* Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not
* execute it. 1: execute payload deploy immediately (rejecting further deploy commands during
* execution, but allowing abort). 2: add payload deploy to existing deployment list.
*
* index = 2; label = Approach Vector; units = deg;
* Desired approach vector in compass heading. A negative value indicates the system can define
* the approach vector at will.
*
* index = 3; label = Ground Speed;
* Desired ground speed at release time. This can be overridden by the airframe in case it needs
* to meet minimum airspeed. A negative value indicates the system can define the ground speed at
* will.
*
* index = 4; label = Altitude Clearance; units = m;
* Minimum altitude clearance to the release position. A negative value indicates the system can
* define the clearance at will.
*
* index = 5; label = Latitude; units = degE7;
* Latitude.
*
* index = 6; label = Longitude; units = degE7;
* Longitude.
*
* index = 7; label = Altitude; units = m;
* Altitude (MSL)
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
PAYLOAD_PREPARE_DEPLOY(30_001u),
/**
* Control the payload deployment.
*
* index = 1; label = Operation Mode;
* Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment
* mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.
*
* index = 2;
* Reserved
*
* index = 3;
* Reserved
*
* index = 4;
* Reserved
*
* index = 5;
* Reserved
*
* index = 6;
* Reserved
*
* index = 7;
* Reserved
*/
@Deprecated(message = "")
@GeneratedMavEnumEntry
PAYLOAD_CONTROL_DEPLOY(30_002u),
/**
* Magnetometer calibration based on provided known yaw. This allows for fast calibration using
* WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and
* longitude are both zero then use the current vehicle location.
*
* index = 1; label = Yaw; units = deg;
* Yaw of vehicle in earth frame.
*
* index = 2; label = CompassMask;
* CompassMask, 0 for all.
*
* index = 3; label = Latitude; units = deg;
* Latitude.
*
* index = 4; label = Longitude; units = deg;
* Longitude.
*
* index = 5;
* Empty.
*
* index = 6;
* Empty.
*
* index = 7;
* Empty.
*/
@GeneratedMavEnumEntry
FIXED_MAG_CAL_YAW(42_006u),
/**
* Command to operate winch.
*
* index = 1; label = Instance;
* Winch instance number.
*
* index = 2; label = Action;
* Action to perform.
*
* index = 3; label = Length; units = m;
* Length of line to release (negative to wind).
*
* index = 4; label = Rate; units = m/s;
* Release rate (negative to wind).
*
* index = 5;
* Empty.
*
* index = 6;
* Empty.
*
* index = 7;
* Empty.
*/
@GeneratedMavEnumEntry
DO_WINCH(42_600u),
/**
* Provide an external position estimate for use when dead-reckoning. This is meant to be used for
* occasional position resets that may be provided by a external system such as a remote pilot using
* landmarks over a video link.
*
* index = 1; label = transmission_time; units = s;
* Timestamp that this message was sent as a time in the transmitters time domain. The sender
* should wrap this time back to zero based on required timing accuracy for the application and the
* limitations of a 32 bit float. For example, wrapping at 10 hours would give approximately 1ms
* accuracy. Recipient must handle time wrap in any timing jitter correction applied to this field.
* Wrap rollover time should not be at not more than 250 seconds, which would give approximately 10
* microsecond accuracy.
*
* index = 2; label = processing_time; units = s;
* The time spent in processing the sensor data that is the basis for this position. The recipient
* can use this to improve time alignment of the data. Set to zero if not known.
*
* index = 3; label = accuracy;
* estimated one standard deviation accuracy of the measurement. Set to NaN if not known.
*
* index = 4;
* Empty
*
* index = 5; label = Latitude;
* Latitude
*
* index = 6; label = Longitude;
* Longitude
*
* index = 7; label = Altitude; units = m;
* Altitude, not used. Should be sent as NaN. May be supported in a future version of this
* message.
*/
@GeneratedMavEnumEntry
EXTERNAL_POSITION_ESTIMATE(43_003u),
/**
* User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
*
* index = 1;
* User defined
*
* index = 2;
* User defined
*
* index = 3;
* User defined
*
* index = 4;
* User defined
*
* index = 5; label = Latitude;
* Latitude unscaled
*
* index = 6; label = Longitude;
* Longitude unscaled
*
* index = 7; label = Altitude; units = m;
* Altitude (MSL)
*/
@GeneratedMavEnumEntry
WAYPOINT_USER_1(31_000u),
/**
* User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
*
* index = 1;
* User defined
*
* index = 2;
* User defined
*
* index = 3;
* User defined
*
* index = 4;
* User defined
*
* index = 5; label = Latitude;
* Latitude unscaled
*
* index = 6; label = Longitude;
* Longitude unscaled
*
* index = 7; label = Altitude; units = m;
* Altitude (MSL)
*/
@GeneratedMavEnumEntry
WAYPOINT_USER_2(31_001u),
/**
* User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
*
* index = 1;
* User defined
*
* index = 2;
* User defined
*
* index = 3;
* User defined
*
* index = 4;
* User defined
*
* index = 5; label = Latitude;
* Latitude unscaled
*
* index = 6; label = Longitude;
* Longitude unscaled
*
* index = 7; label = Altitude; units = m;
* Altitude (MSL)
*/
@GeneratedMavEnumEntry
WAYPOINT_USER_3(31_002u),
/**
* User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
*
* index = 1;
* User defined
*
* index = 2;
* User defined
*
* index = 3;
* User defined
*
* index = 4;
* User defined
*
* index = 5; label = Latitude;
* Latitude unscaled
*
* index = 6; label = Longitude;
* Longitude unscaled
*
* index = 7; label = Altitude; units = m;
* Altitude (MSL)
*/
@GeneratedMavEnumEntry
WAYPOINT_USER_4(31_003u),
/**
* User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
*
* index = 1;
* User defined
*
* index = 2;
* User defined
*
* index = 3;
* User defined
*
* index = 4;
* User defined
*
* index = 5; label = Latitude;
* Latitude unscaled
*
* index = 6; label = Longitude;
* Longitude unscaled
*
* index = 7; label = Altitude; units = m;
* Altitude (MSL)
*/
@GeneratedMavEnumEntry
WAYPOINT_USER_5(31_004u),
/**
* User defined spatial item. Ground Station will not show the Vehicle as flying through this
* item. Example: ROI item.
*
* index = 1;
* User defined
*
* index = 2;
* User defined
*
* index = 3;
* User defined
*
* index = 4;
* User defined
*
* index = 5; label = Latitude;
* Latitude unscaled
*
* index = 6; label = Longitude;
* Longitude unscaled
*
* index = 7; label = Altitude; units = m;
* Altitude (MSL)
*/
@GeneratedMavEnumEntry
SPATIAL_USER_1(31_005u),
/**
* User defined spatial item. Ground Station will not show the Vehicle as flying through this
* item. Example: ROI item.
*
* index = 1;
* User defined
*
* index = 2;
* User defined
*
* index = 3;
* User defined
*
* index = 4;
* User defined
*
* index = 5; label = Latitude;
* Latitude unscaled
*
* index = 6; label = Longitude;
* Longitude unscaled
*
* index = 7; label = Altitude; units = m;
* Altitude (MSL)
*/
@GeneratedMavEnumEntry
SPATIAL_USER_2(31_006u),
/**
* User defined spatial item. Ground Station will not show the Vehicle as flying through this
* item. Example: ROI item.
*
* index = 1;
* User defined
*
* index = 2;
* User defined
*
* index = 3;
* User defined
*
* index = 4;
* User defined
*
* index = 5; label = Latitude;
* Latitude unscaled
*
* index = 6; label = Longitude;
* Longitude unscaled
*
* index = 7; label = Altitude; units = m;
* Altitude (MSL)
*/
@GeneratedMavEnumEntry
SPATIAL_USER_3(31_007u),
/**
* User defined spatial item. Ground Station will not show the Vehicle as flying through this
* item. Example: ROI item.
*
* index = 1;
* User defined
*
* index = 2;
* User defined
*
* index = 3;
* User defined
*
* index = 4;
* User defined
*
* index = 5; label = Latitude;
* Latitude unscaled
*
* index = 6; label = Longitude;
* Longitude unscaled
*
* index = 7; label = Altitude; units = m;
* Altitude (MSL)
*/
@GeneratedMavEnumEntry
SPATIAL_USER_4(31_008u),
/**
* User defined spatial item. Ground Station will not show the Vehicle as flying through this
* item. Example: ROI item.
*
* index = 1;
* User defined
*
* index = 2;
* User defined
*
* index = 3;
* User defined
*
* index = 4;
* User defined
*
* index = 5; label = Latitude;
* Latitude unscaled
*
* index = 6; label = Longitude;
* Longitude unscaled
*
* index = 7; label = Altitude; units = m;
* Altitude (MSL)
*/
@GeneratedMavEnumEntry
SPATIAL_USER_5(31_009u),
/**
* User defined command. Ground Station will not show the Vehicle as flying through this item.
* Example: MAV_CMD_DO_SET_PARAMETER item.
*
* index = 1;
* User defined
*
* index = 2;
* User defined
*
* index = 3;
* User defined
*
* index = 4;
* User defined
*
* index = 5;
* User defined
*
* index = 6;
* User defined
*
* index = 7;
* User defined
*/
@GeneratedMavEnumEntry
USER_1(31_010u),
/**
* User defined command. Ground Station will not show the Vehicle as flying through this item.
* Example: MAV_CMD_DO_SET_PARAMETER item.
*
* index = 1;
* User defined
*
* index = 2;
* User defined
*
* index = 3;
* User defined
*
* index = 4;
* User defined
*
* index = 5;
* User defined
*
* index = 6;
* User defined
*
* index = 7;
* User defined
*/
@GeneratedMavEnumEntry
USER_2(31_011u),
/**
* User defined command. Ground Station will not show the Vehicle as flying through this item.
* Example: MAV_CMD_DO_SET_PARAMETER item.
*
* index = 1;
* User defined
*
* index = 2;
* User defined
*
* index = 3;
* User defined
*
* index = 4;
* User defined
*
* index = 5;
* User defined
*
* index = 6;
* User defined
*
* index = 7;
* User defined
*/
@GeneratedMavEnumEntry
USER_3(31_012u),
/**
* User defined command. Ground Station will not show the Vehicle as flying through this item.
* Example: MAV_CMD_DO_SET_PARAMETER item.
*
* index = 1;
* User defined
*
* index = 2;
* User defined
*
* index = 3;
* User defined
*
* index = 4;
* User defined
*
* index = 5;
* User defined
*
* index = 6;
* User defined
*
* index = 7;
* User defined
*/
@GeneratedMavEnumEntry
USER_4(31_013u),
/**
* User defined command. Ground Station will not show the Vehicle as flying through this item.
* Example: MAV_CMD_DO_SET_PARAMETER item.
*
* index = 1;
* User defined
*
* index = 2;
* User defined
*
* index = 3;
* User defined
*
* index = 4;
* User defined
*
* index = 5;
* User defined
*
* index = 6;
* User defined
*
* index = 7;
* User defined
*/
@GeneratedMavEnumEntry
USER_5(31_014u),
/**
* Request forwarding of CAN packets from the given CAN bus to this component. CAN Frames are sent
* using CAN_FRAME and CANFD_FRAME messages
*
* index = 1; label = bus;
* Bus number (0 to disable forwarding, 1 for first bus, 2 for 2nd bus, 3 for 3rd bus).
*
* index = 2;
* Empty.
*
* index = 3;
* Empty.
*
* index = 4;
* Empty.
*
* index = 5;
* Empty.
*
* index = 6;
* Empty.
*
* index = 7;
* Empty.
*/
@GeneratedMavEnumEntry
CAN_FORWARD(32_000u),
;
public companion object : MavEnum.MavCompanion {
override fun getEntryFromValueOrNull(v: UInt): MavCmd? = when (v) {
16u -> NAV_WAYPOINT
17u -> NAV_LOITER_UNLIM
18u -> NAV_LOITER_TURNS
19u -> NAV_LOITER_TIME
20u -> NAV_RETURN_TO_LAUNCH
21u -> NAV_LAND
22u -> NAV_TAKEOFF
23u -> NAV_LAND_LOCAL
24u -> NAV_TAKEOFF_LOCAL
25u -> NAV_FOLLOW
30u -> NAV_CONTINUE_AND_CHANGE_ALT
31u -> NAV_LOITER_TO_ALT
32u -> DO_FOLLOW
33u -> DO_FOLLOW_REPOSITION
34u -> DO_ORBIT
80u -> NAV_ROI
81u -> NAV_PATHPLANNING
82u -> NAV_SPLINE_WAYPOINT
84u -> NAV_VTOL_TAKEOFF
85u -> NAV_VTOL_LAND
92u -> NAV_GUIDED_ENABLE
93u -> NAV_DELAY
94u -> NAV_PAYLOAD_PLACE
95u -> NAV_LAST
112u -> CONDITION_DELAY
113u -> CONDITION_CHANGE_ALT
114u -> CONDITION_DISTANCE
115u -> CONDITION_YAW
159u -> CONDITION_LAST
176u -> DO_SET_MODE
177u -> DO_JUMP
178u -> DO_CHANGE_SPEED
179u -> DO_SET_HOME
180u -> DO_SET_PARAMETER
181u -> DO_SET_RELAY
182u -> DO_REPEAT_RELAY
183u -> DO_SET_SERVO
184u -> DO_REPEAT_SERVO
185u -> DO_FLIGHTTERMINATION
186u -> DO_CHANGE_ALTITUDE
187u -> DO_SET_ACTUATOR
188u -> DO_RETURN_PATH_START
189u -> DO_LAND_START
190u -> DO_RALLY_LAND
191u -> DO_GO_AROUND
192u -> DO_REPOSITION
193u -> DO_PAUSE_CONTINUE
194u -> DO_SET_REVERSE
195u -> DO_SET_ROI_LOCATION
196u -> DO_SET_ROI_WPNEXT_OFFSET
197u -> DO_SET_ROI_NONE
198u -> DO_SET_ROI_SYSID
200u -> DO_CONTROL_VIDEO
201u -> DO_SET_ROI
202u -> DO_DIGICAM_CONFIGURE
203u -> DO_DIGICAM_CONTROL
204u -> DO_MOUNT_CONFIGURE
205u -> DO_MOUNT_CONTROL
206u -> DO_SET_CAM_TRIGG_DIST
207u -> DO_FENCE_ENABLE
208u -> DO_PARACHUTE
209u -> DO_MOTOR_TEST
210u -> DO_INVERTED_FLIGHT
211u -> DO_GRIPPER
212u -> DO_AUTOTUNE_ENABLE
213u -> NAV_SET_YAW_SPEED
214u -> DO_SET_CAM_TRIGG_INTERVAL
220u -> DO_MOUNT_CONTROL_QUAT
221u -> DO_GUIDED_MASTER
222u -> DO_GUIDED_LIMITS
223u -> DO_ENGINE_CONTROL
224u -> DO_SET_MISSION_CURRENT
240u -> DO_LAST
241u -> PREFLIGHT_CALIBRATION
242u -> PREFLIGHT_SET_SENSOR_OFFSETS
243u -> PREFLIGHT_UAVCAN
245u -> PREFLIGHT_STORAGE
246u -> PREFLIGHT_REBOOT_SHUTDOWN
252u -> OVERRIDE_GOTO
260u -> OBLIQUE_SURVEY
300u -> MISSION_START
310u -> ACTUATOR_TEST
311u -> CONFIGURE_ACTUATOR
400u -> COMPONENT_ARM_DISARM
401u -> RUN_PREARM_CHECKS
405u -> ILLUMINATOR_ON_OFF
406u -> DO_ILLUMINATOR_CONFIGURE
410u -> GET_HOME_POSITION
420u -> INJECT_FAILURE
500u -> START_RX_PAIR
510u -> GET_MESSAGE_INTERVAL
511u -> SET_MESSAGE_INTERVAL
512u -> REQUEST_MESSAGE
519u -> REQUEST_PROTOCOL_VERSION
520u -> REQUEST_AUTOPILOT_CAPABILITIES
521u -> REQUEST_CAMERA_INFORMATION
522u -> REQUEST_CAMERA_SETTINGS
525u -> REQUEST_STORAGE_INFORMATION
526u -> STORAGE_FORMAT
527u -> REQUEST_CAMERA_CAPTURE_STATUS
528u -> REQUEST_FLIGHT_INFORMATION
529u -> RESET_CAMERA_SETTINGS
530u -> SET_CAMERA_MODE
531u -> SET_CAMERA_ZOOM
532u -> SET_CAMERA_FOCUS
533u -> SET_STORAGE_USAGE
534u -> SET_CAMERA_SOURCE
600u -> JUMP_TAG
601u -> DO_JUMP_TAG
1000u -> DO_GIMBAL_MANAGER_PITCHYAW
1001u -> DO_GIMBAL_MANAGER_CONFIGURE
2000u -> IMAGE_START_CAPTURE
2001u -> IMAGE_STOP_CAPTURE
2002u -> REQUEST_CAMERA_IMAGE_CAPTURE
2003u -> DO_TRIGGER_CONTROL
2004u -> CAMERA_TRACK_POINT
2005u -> CAMERA_TRACK_RECTANGLE
2010u -> CAMERA_STOP_TRACKING
2500u -> VIDEO_START_CAPTURE
2501u -> VIDEO_STOP_CAPTURE
2502u -> VIDEO_START_STREAMING
2503u -> VIDEO_STOP_STREAMING
2504u -> REQUEST_VIDEO_STREAM_INFORMATION
2505u -> REQUEST_VIDEO_STREAM_STATUS
2510u -> LOGGING_START
2511u -> LOGGING_STOP
2520u -> AIRFRAME_CONFIGURATION
2600u -> CONTROL_HIGH_LATENCY
2800u -> PANORAMA_CREATE
3000u -> DO_VTOL_TRANSITION
3001u -> ARM_AUTHORIZATION_REQUEST
4000u -> SET_GUIDED_SUBMODE_STANDARD
4001u -> SET_GUIDED_SUBMODE_CIRCLE
4501u -> CONDITION_GATE
5000u -> NAV_FENCE_RETURN_POINT
5001u -> NAV_FENCE_POLYGON_VERTEX_INCLUSION
5002u -> NAV_FENCE_POLYGON_VERTEX_EXCLUSION
5003u -> NAV_FENCE_CIRCLE_INCLUSION
5004u -> NAV_FENCE_CIRCLE_EXCLUSION
5100u -> NAV_RALLY_POINT
5200u -> UAVCAN_GET_NODE_INFO
5300u -> DO_SET_SAFETY_SWITCH_STATE
10001u -> DO_ADSB_OUT_IDENT
30001u -> PAYLOAD_PREPARE_DEPLOY
30002u -> PAYLOAD_CONTROL_DEPLOY
42006u -> FIXED_MAG_CAL_YAW
42600u -> DO_WINCH
43003u -> EXTERNAL_POSITION_ESTIMATE
31000u -> WAYPOINT_USER_1
31001u -> WAYPOINT_USER_2
31002u -> WAYPOINT_USER_3
31003u -> WAYPOINT_USER_4
31004u -> WAYPOINT_USER_5
31005u -> SPATIAL_USER_1
31006u -> SPATIAL_USER_2
31007u -> SPATIAL_USER_3
31008u -> SPATIAL_USER_4
31009u -> SPATIAL_USER_5
31010u -> USER_1
31011u -> USER_2
31012u -> USER_3
31013u -> USER_4
31014u -> USER_5
32000u -> CAN_FORWARD
else -> null
}
}
}
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