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612 lines
24 KiB
612 lines
24 KiB
{ |
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"version": 1, |
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|
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"mavCmdInfo": [ |
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{ |
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"comment": "MAV_CMD_NAV_LAST: Used for fake home position waypoint", |
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"id": 95, |
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"rawName": "HomeRaw", |
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"friendlyName": "Home Position", |
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"description": "Planned home position for mission.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Basic", |
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"param5": { |
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"label": "Latitude:", |
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"default": 37.803784, |
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"decimalPlaces": 7 |
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}, |
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"param6": { |
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"label": "Longitude:", |
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"default": -122.462276, |
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"decimalPlaces": 7 |
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} |
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}, |
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{ |
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"id": 16, |
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"rawName": "MAV_CMD_NAV_WAYPOINT", |
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"friendlyName": "Waypoint", |
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"description": "Travel to a position in 3D space.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Basic", |
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"param1": { |
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"label": "Hold:", |
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"units": "seconds", |
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"default": 0, |
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"decimalPlaces": 0 |
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} |
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}, |
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{ |
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"id": 17, |
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"rawName": "MAV_CMD_NAV_LOITER_UNLIM", |
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"friendlyName": "Loiter", |
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"description": "Travel to a position and Loiter around the specified radius indefinitely.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Basic", |
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"param3": { |
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"label": "Radius:", |
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"units": "meters", |
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"default": 10.0, |
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"decimalPlaces": 2 |
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} |
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}, |
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{ |
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"id": 18, |
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"rawName": "MAV_CMD_NAV_LOITER_TURNS", |
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"friendlyName": "Loiter (turns)", |
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"description": "Travel to a position and Loiter around the specified radius for a number of turns.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Basic", |
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"param1": { |
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"label": "Turns:", |
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"default": 1, |
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"decimalPlaces": 0 |
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}, |
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"param3": { |
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"label": "Radius:", |
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"units": "meters", |
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"default": 10.0, |
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"decimalPlaces": 2 |
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} |
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}, |
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{ |
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"id": 19, |
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"rawName": "MAV_CMD_NAV_LOITER_TIME", |
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"friendlyName": "Loiter (time)", |
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"description": "Travel to a position and Loiter around the specified radius for an amount of time.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Basic", |
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"param1": { |
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"label": "Hold:", |
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"units": "seconds", |
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"default": 30, |
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"decimalPlaces": 0 |
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}, |
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"param3": { |
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"label": "Radius:", |
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"units": "meters", |
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"default": 10.0, |
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"decimalPlaces": 2 |
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} |
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}, |
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{ |
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"id": 20, |
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"rawName": "MAV_CMD_NAV_RETURN_TO_LAUNCH", |
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"friendlyName": "Return Home", |
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"description": "Send the vehicle back to the home position.", |
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"friendlyEdit": true, |
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"category": "Basic" |
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}, |
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{ |
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"id": 21, |
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"rawName": "MAV_CMD_NAV_LAND", |
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"friendlyName": "Land", |
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"description": "Land vehicle at the specified location.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Basic", |
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"param1": { |
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"label": "Abort Alt:", |
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"units": "meters", |
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"default": 25.0, |
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"decimalPlaces": 3 |
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}, |
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"param4": { |
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"label": "Heading:", |
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"units": "radians", |
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"default": 0.0, |
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"decimalPlaces": 2 |
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} |
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}, |
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{ |
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"id": 22, |
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"rawName": "MAV_CMD_NAV_TAKEOFF", |
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"friendlyName": "Takeoff", |
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"description": "Take off from the ground and travel towards the specified position.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Basic", |
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"param1": { |
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"label": "Pitch:", |
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"units": "radians", |
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"default": 0.26179939, |
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"decimalPlaces": 2 |
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}, |
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"param4": { |
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"label": "Heading:", |
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"units": "radians", |
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"default": 0.0, |
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"decimalPlaces": 2 |
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} |
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}, |
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{ "id": 23, "rawName": "MAV_CMD_NAV_LAND_LOCAL", "friendlyName": "MAV_CMD_NAV_LAND_LOCAL" }, |
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{ "id": 24, "rawName": "MAV_CMD_NAV_TAKEOFF_LOCAL", "friendlyName": "MAV_CMD_NAV_TAKEOFF_LOCAL" }, |
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{ "id": 25, "rawName": "MAV_CMD_NAV_FOLLOW", "friendlyName": "MAV_CMD_NAV_FOLLOW" }, |
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{ "id": 30, "rawName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT", "friendlyName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT" }, |
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{ "id": 31, "rawName": "MAV_CMD_NAV_LOITER_TO_ALT" }, |
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{ |
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"id": 80, |
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"rawName": "MAV_CMD_NAV_ROI", |
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"friendlyName": "Region of interest (nav)", |
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"description": "Sets the region of interest for cameras.", |
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"specifiesCoordinate": true, |
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"standaloneCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Camera", |
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"param1": { |
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"label": "Mode:", |
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"enumStrings": "None,Next waypoint,Mission item,Location,ROI item", |
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"enumValues": "0,1,2,3,4", |
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"default": 3, |
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"decimalPlaces": 0 |
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}, |
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"param2": { |
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"label": "Mission Index:", |
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"default": 0, |
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"decimalPlaces": 0 |
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}, |
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"param3": { |
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"label": "ROI Index:", |
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"default": 0, |
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"decimalPlaces": 0 |
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} |
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}, |
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{ "id": 81, "rawName": "MAV_CMD_NAV_PATHPLANNING", "friendlyName": "MAV_CMD_NAV_PATHPLANNING" }, |
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{ "id": 82, "rawName": "MAV_CMD_NAV_SPLINE_WAYPOINT", "friendlyName": "MAV_CMD_NAV_SPLINE_WAYPOINT" }, |
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{ "id": 83, "rawName": "MAV_CMD_NAV_ALTITUDE_WAIT", "friendlyName": "MAV_CMD_NAV_ALTITUDE_WAIT" }, |
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{ |
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"id": 92, |
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"rawName": "MAV_CMD_NAV_GUIDED_ENABLE", |
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"friendlyName": "Guided enable", |
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"description": "Enable/Disabled guided mode.", |
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"param1": { |
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"label": "Enable:", |
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"default": 1, |
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"decimalPlaces": 0 |
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} |
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}, |
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{ |
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"id": 112, |
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"rawName": "MAV_CMD_CONDITION_DELAY", |
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"friendlyName": "Delay", |
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"description": "Delay the mission for the number of seconds.", |
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"friendlyEdit": true, |
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"category": "Basic", |
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"param1": { |
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"label": "Hold:", |
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"units": "seconds", |
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"default": 30, |
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"decimalPlaces": 0 |
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} |
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}, |
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{ |
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"id": 113, |
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"rawName": "MAV_CMD_CONDITION_CHANGE_ALT", |
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"description": "Delay the mission until the specified altitide is reached.", |
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"friendlyName": "Wait for altitude", |
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"category": "Conditionals", |
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"param1": { |
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"label": "Rate:", |
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"units": "m/s", |
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"default": 5, |
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"decimalPlaces": 2 |
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}, |
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"param7": { |
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"label": "Altitude:", |
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"units": "meters", |
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"default": 55, |
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"decimalPlaces": 2 |
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} |
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}, |
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{ |
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"id": 114, |
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"rawName": "MAV_CMD_CONDITION_DISTANCE", |
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"description": "Delay the mission until within the specified distance of the next waypoint.", |
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"friendlyName": "Wait for distance", |
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"category": "Conditionals", |
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"param1": { |
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"label": "Distance:", |
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"units": "meters", |
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"default": 0, |
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"decimalPlaces": 2 |
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} |
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}, |
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{ |
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"id": 115, |
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"rawName": "MAV_CMD_CONDITION_YAW", |
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"friendlyName": "Wait for Heading", |
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"description": "Delay the mission until the specified heading is reached.", |
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"category": "Conditionals", |
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"param1": { |
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"label": "Heading:", |
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"units": "degrees", |
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"default": 0, |
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"decimalPlaces": 1 |
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}, |
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"param2": { |
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"label": "Rate:", |
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"units": "degrees/s", |
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"default": 5, |
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"decimalPlaces": 1 |
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}, |
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"param3": { |
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"label": "Direction:", |
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"default": 1, |
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"decimalPlaces": 0 |
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}, |
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"param3": { |
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"label": "Offset:", |
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"enumStrings": "Relative,Absolute", |
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"enumValues": "1,0", |
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"default": 5 |
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} |
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}, |
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{ "id": 159, "rawName": "MAV_CMD_CONDITION_LAST", "friendlyName": "MAV_CMD_CONDITION_LAST" }, |
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{ "id": 176, "rawName": "MAV_CMD_DO_SET_MODE", "friendlyName": "MAV_CMD_DO_SET_MODE" }, |
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{ |
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"id": 177, |
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"rawName": "MAV_CMD_DO_JUMP", |
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"friendlyName": "Jump to item", |
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"description": "Mission will continue at the specified item.", |
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"friendlyEdit": true, |
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"category": "Basic", |
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"param1": { |
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"label": "Item #:", |
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"default": 1, |
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"decimalPlaces": 0 |
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}, |
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"param2": { |
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"label": "Repeat:", |
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"default": 0, |
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"decimalPlaces": 0 |
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} |
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}, |
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{ |
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"id": 178, |
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"rawName": "MAV_CMD_DO_CHANGE_SPEED", |
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"friendlyName": "Change speed", |
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"description": "Change speed and/or throttle set points.", |
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"param1": { |
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"label": "Type:", |
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"enumStrings": "Airspeed,Ground Speed", |
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"enumValues": "0,1", |
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"default": 1 |
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}, |
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"param2": { |
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"label": "Speed:", |
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"units": "m/s", |
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"default": -1 |
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}, |
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"param3": { |
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"label": "Throttle:", |
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"units": "%", |
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"default": -1 |
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} |
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}, |
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{ "id": 179, "rawName": "MAV_CMD_DO_SET_HOME", "friendlyName": "MAV_CMD_DO_SET_HOME" }, |
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{ "id": 180, "rawName": "MAV_CMD_DO_SET_PARAMETER", "friendlyName": "MAV_CMD_DO_SET_PARAMETER" }, |
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{ |
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"id": 181, |
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"rawName": "MAV_CMD_DO_SET_RELAY", |
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"friendlyName": "Set relay", |
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"description": "Set relay to a condition.", |
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"param1": { |
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"label": "Relay #:", |
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"default": 0, |
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"decimalPlaces": 0 |
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}, |
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"param2": { |
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"label": "Value:", |
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"default": 0 |
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} |
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}, |
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{ |
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"id": 182, |
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"rawName": "MAV_CMD_DO_REPEAT_RELAY", |
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"friendlyName": "Cycle relay", |
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"description": "Cycle relay on/off for desired cycles/time.", |
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"param1": { |
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"label": "Relay #:", |
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"default": 0, |
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"decimalPlaces": 0 |
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}, |
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"param2": { |
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"label": "Cycles:", |
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"default": 1, |
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"units": "count", |
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"decimalPlaces": 0 |
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}, |
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"param3": { |
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"label": "Time:", |
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"default": 10, |
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"units": "seconds", |
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"decimalPlaces": 0 |
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} |
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}, |
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{ |
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"id": 183, |
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"rawName": "MAV_CMD_DO_SET_SERVO", |
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"friendlyName": "Set servo", |
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"description": "Set servo to specified PWM value.", |
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"friendlyEdit": true, |
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"param1": { |
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"label": "Servo:", |
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"default": 1, |
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"decimalPlaces": 0 |
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}, |
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"param2": { |
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"label": "PWM:", |
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"default": 1000, |
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"decimalPlaces": 0 |
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} |
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}, |
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{ |
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"id": 184, |
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"rawName": "MAV_CMD_DO_REPEAT_SERVO", |
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"friendlyName": "Cycle servo", |
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"description": "Set servo to specified PWM value.", |
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"param1": { |
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"label": "Servo:", |
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"default": 1, |
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"decimalPlaces": 0 |
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}, |
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"param2": { |
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"label": "PWM:", |
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"default": 1000, |
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"decimalPlaces": 0 |
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}, |
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"param3": { |
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"label": "Cycles:", |
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"default": 1, |
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"units": "count", |
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"decimalPlaces": 0 |
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}, |
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"param4": { |
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"label": "Time:", |
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"default": 10, |
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"units": "seconds", |
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"decimalPlaces": 0 |
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} |
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}, |
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{ "id": 185, "rawName": "MAV_CMD_DO_FLIGHTTERMINATION", "friendlyName": "MAV_CMD_DO_FLIGHTTERMINATION" }, |
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{ "id": 189, "rawName": "MAV_CMD_DO_LAND_START", "friendlyName": "MAV_CMD_DO_LAND_START" }, |
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{ "id": 190, "rawName": "MAV_CMD_DO_RALLY_LAND", "friendlyName": "MAV_CMD_DO_RALLY_LAND" }, |
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{ "id": 191, "rawName": "MAV_CMD_DO_GO_AROUND", "friendlyName": "MAV_CMD_DO_GO_AROUND" }, |
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{ "id": 200, "rawName": "MAV_CMD_DO_CONTROL_VIDEO", "friendlyName": "MAV_CMD_DO_CONTROL_VIDEO" }, |
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{ |
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"id": 201, |
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"rawName": "MAV_CMD_DO_SET_ROI", |
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"friendlyName": "Region of interest (cmd)" , |
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"description": "Sets the region of interest for cameras.", |
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"specifiesCoordinate": true, |
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"standaloneCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Camera", |
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"param1": { |
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"label": "Mode:", |
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"enumStrings": "None,Next waypoint,Mission item,Location,ROI item", |
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"enumValues": "0,1,2,3,4", |
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"default": 3, |
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"decimalPlaces": 0 |
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}, |
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"param2": { |
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"label": "Mission Index:", |
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"default": 0, |
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"decimalPlaces": 0 |
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}, |
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"param3": { |
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"label": "ROI Index:", |
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"default": 0, |
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"decimalPlaces": 0 |
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} |
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}, |
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{ |
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"id": 202, |
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"rawName": "MAV_CMD_DO_DIGICAM_CONFIGURE", |
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"friendlyName": "Camera config", |
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"description": "Configure onboard camera controller.", |
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"category": "Camera", |
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"param1": { |
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"label": "Mode:", |
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"default": 0, |
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"decimalPlaces": 0 |
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}, |
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"param2": { |
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"label": "Shutter spd:", |
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"default": 60, |
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"units": "1/secs", |
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"decimalPlaces": 0 |
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}, |
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"param3": { |
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"label": "Aperture:", |
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"default": 4, |
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"units": "F stop", |
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"decimalPlaces": 1 |
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}, |
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"param4": { |
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"label": "ISO:", |
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"default": 200, |
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"decimalPlaces": 0 |
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}, |
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"param5": { |
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"label": "Exposure:", |
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"default": 0, |
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"decimalPlaces": 0 |
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}, |
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"param6": { |
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"label": "Command:", |
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"default": 0, |
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"decimalPlaces": 0 |
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}, |
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"param7": { |
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"label": "Cut off:", |
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"default": 0, |
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"decimalPlaces": 2 |
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} |
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}, |
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{ |
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"id": 203, |
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"friendlyName": "Camera control", |
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"rawName": "MAV_CMD_DO_DIGICAM_CONTROL", |
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"description": "Control onboard camera.", |
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"category": "Camera", |
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"param1": { |
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"label": "Session:", |
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"default": 0, |
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"decimalPlaces": 0 |
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}, |
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"param2": { |
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"label": "Zoom:", |
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"default": 0, |
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"decimalPlaces": 3 |
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}, |
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"param3": { |
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"label": "Step:", |
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"default": 0, |
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"decimalPlaces": 3 |
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}, |
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"param4": { |
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"label": "Focus lock:", |
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"default": 0, |
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"decimalPlaces": 0 |
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}, |
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"param5": { |
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"label": "Command:", |
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"default": 0, |
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"decimalPlaces": 0 |
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}, |
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"param6": { |
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"label": "Id:", |
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"default": 0, |
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"decimalPlaces": 0 |
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} |
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}, |
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{ "id": 204, "rawName": "MAV_CMD_DO_MOUNT_CONFIGURE", "friendlyName": "MAV_CMD_DO_MOUNT_CONFIGURE" }, |
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{ |
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"id": 205, |
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"rawName": "MAV_CMD_DO_MOUNT_CONTROL", |
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"friendlyName": "Mount config", |
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"description": "Control antenna mount or camera.", |
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"category": "Camera", |
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"param1": { |
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"label": "Lat/Pitch:", |
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"default": 0, |
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"decimalPlaces": 7 |
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}, |
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"param2": { |
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"label": "Lon/Roll:", |
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"default": 0, |
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"decimalPlaces": 7 |
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}, |
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"param3": { |
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"label": "Alt/Yaw:", |
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"default": 0, |
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"decimalPlaces": 7 |
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}, |
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"param7": { |
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"label": "Mode:", |
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"default": 0, |
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"decimalPlaces": 0, |
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"enumStrings": "Retract,Neutral,Mavlink Targetting,RC Targetting, GPS Point", |
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"enumValues": "0,1,2,3,4" |
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} |
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}, |
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{ |
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"id": 206, |
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"rawName": "MAV_CMD_DO_SET_CAM_TRIGG_DIST", |
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"friendlyName": "Camera trigger distance", |
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"description": "Set camera trigger distance.", |
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"category": "Camera", |
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"param1": { |
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"label": "Distance:", |
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"default": 25, |
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"units": "meters", |
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"decimalPlaces": 2 |
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} |
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}, |
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{ "id": 207, "rawName": "MAV_CMD_DO_FENCE_ENABLE", "friendlyName": "MAV_CMD_DO_FENCE_ENABLE" }, |
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{ "id": 208, "rawName": "MAV_CMD_DO_PARACHUTE", "friendlyName": "MAV_CMD_DO_PARACHUTE" }, |
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{ "id": 209, "rawName": "MAV_CMD_DO_MOTOR_TEST", "friendlyName": "MAV_CMD_DO_MOTOR_TEST" }, |
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{ "id": 210, "rawName": "MAV_CMD_DO_INVERTED_FLIGHT", "friendlyName": "MAV_CMD_DO_INVERTED_FLIGHT" }, |
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{ "id": 220, "rawName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT", "friendlyName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT" }, |
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{ "id": 221, "rawName": "MAV_CMD_DO_GUIDED_MASTER", "friendlyName": "MAV_CMD_DO_GUIDED_MASTER" }, |
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{ |
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"id": 222, |
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"rawName": "MAV_CMD_DO_GUIDED_LIMITS", |
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"friendlyName": "External control limits", |
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"description": "Set limits for external control", |
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"param1": { |
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"label": "Timeout:", |
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"default": 0, |
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"units": "seconds", |
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"decimalPlaces": 0 |
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}, |
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"param2": { |
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"label": "Min Alt:", |
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"default": 25, |
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"units": "m(AMSL)", |
|
"decimalPlaces": 2 |
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}, |
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"param3": { |
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"label": "Max Alt:", |
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"default": 100, |
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"decimalPlaces": 7 |
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}, |
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"param4": { |
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"label": "H Limit:", |
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"default": 25, |
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"units": "m(AMSL)", |
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"decimalPlaces": 2 |
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} |
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}, |
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{ "id": 252, "rawName": "MAV_CMD_OVERRIDE_GOTO", "friendlyName": "MAV_CMD_OVERRIDE_GOTO" }, |
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{ "id": 300, "rawName": "MAV_CMD_MISSION_START", "friendlyName": "MAV_CMD_MISSION_START" }, |
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{ "id": 400, "rawName": "MAV_CMD_COMPONENT_ARM_DISARM", "friendlyName": "MAV_CMD_COMPONENT_ARM_DISARM" }, |
|
{ "id": 2000, "rawName": "MAV_CMD_IMAGE_START_CAPTURE", "friendlyName": "MAV_CMD_IMAGE_START_CAPTURE" }, |
|
{ "id": 2001, "rawName": "MAV_CMD_IMAGE_STOP_CAPTURE", "friendlyName": "MAV_CMD_IMAGE_STOP_CAPTURE" }, |
|
{ "id": 2003, "rawName": "MAV_CMD_DO_TRIGGER_CONTROL", "friendlyName": "MAV_CMD_DO_TRIGGER_CONTROL" }, |
|
{ "id": 2500, "rawName": "MAV_CMD_VIDEO_START_CAPTURE", "friendlyName": "MAV_CMD_VIDEO_START_CAPTURE" }, |
|
{ "id": 2501, "rawName": "MAV_CMD_VIDEO_STOP_CAPTURE", "friendlyName": "MAV_CMD_VIDEO_STOP_CAPTURE" }, |
|
{ "id": 2800, "rawName": "MAV_CMD_PANORAMA_CREATE", "friendlyName": "MAV_CMD_PANORAMA_CREATE" }, |
|
{ |
|
"id": 3000, |
|
"rawName": "MAV_CMD_DO_VTOL_TRANSITION", |
|
"friendlyName": "VTOL Transition", |
|
"description": "Perform flight mode transition", |
|
"category": "Basic", |
|
"param1": { |
|
"label": "Mode:", |
|
"default": 3, |
|
"decimalPlaces": 0, |
|
"enumStrings": "Hover Mode,Plane Mode", |
|
"enumValues": "3,4" |
|
} |
|
}, |
|
{ "id": 30001, "rawName": "MAV_CMD_PAYLOAD_PREPARE_DEPLOY", "friendlyName": "MAV_CMD_PAYLOAD_PREPARE_DEPLOY" }, |
|
{ "id": 30002, "rawName": "MAV_CMD_PAYLOAD_CONTROL_DEPLOY", "friendlyName": "MAV_CMD_PAYLOAD_CONTROL_DEPLOY" } |
|
] |
|
}
|
|
|