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1079 lines
42 KiB
1079 lines
42 KiB
{ |
|
"comment": "Any Firmware, Any Vehicle", |
|
|
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"version": 1, |
|
|
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"mavCmdInfo": [ |
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{ |
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"comment": "MAV_CMD_NAV_LAST: Used for mission settings / planned 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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"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": "secs", |
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"default": 0, |
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"decimalPlaces": 0 |
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}, |
|
"param2": { |
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"label": "Acceptance", |
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"units": "m", |
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"default": 3, |
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"decimalPlaces": 2 |
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}, |
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"param3": { |
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"label": "PassThru", |
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"units": "m", |
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"default": 0, |
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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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"nanUnchanged": true, |
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"default": null, |
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"decimalPlaces": 2 |
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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": "Loiter", |
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"param3": { |
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"label": "Radius", |
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"units": "m", |
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"default": 50.0, |
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"decimalPlaces": 2 |
|
}, |
|
"param4": { |
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"label": "Heading", |
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"units": "radians", |
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"nanUnchanged": true, |
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"default": null, |
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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": "Loiter", |
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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": "m", |
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"default": 50.0, |
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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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"nanUnchanged": true, |
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"default": null, |
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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": "Loiter", |
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"param1": { |
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"label": "Hold", |
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"units": "secs", |
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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": "m", |
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"default": 50.0, |
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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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"nanUnchanged": true, |
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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": "m", |
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"default": 25.0, |
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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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"nanUnchanged": true, |
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"default": null, |
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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": "deg", |
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"default": 15, |
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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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"nanUnchanged": true, |
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"default": null, |
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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": "Land local" }, |
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{ "id": 24, "rawName": "MAV_CMD_NAV_TAKEOFF_LOCAL", "friendlyName": "Takeoff local" }, |
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{ "id": 25, "rawName": "MAV_CMD_NAV_FOLLOW", "friendlyName": "Nav follow" }, |
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{ |
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"id": 30, |
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"rawName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT", |
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"friendlyName": "Change Altitude", |
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"description": "Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command.", |
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"specifiesCoordinate": false, |
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"specifiesAltitudeOnly": true, |
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"friendlyEdit": true, |
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"category": "Flight control", |
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"param1": { |
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"label": "Mode", |
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"enumStrings": "Climb,Neutral,Descend", |
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"enumValues": "1,0,2", |
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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": 31, |
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"rawName": "MAV_CMD_NAV_LOITER_TO_ALT", |
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"friendlyName": "Loiter (altitude)", |
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"description": "Loiter at specified position until altitude reached.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Loiter", |
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"param1": { |
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"label": "Heading wait", |
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"enumStrings": "False,True", |
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"enumValues": "0,1", |
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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": "Radius", |
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"units": "m", |
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"default": 50.0, |
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"decimalPlaces": 2 |
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}, |
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"param4": { |
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"label": "Exit loiter from", |
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"enumStrings": "Center,Tangent", |
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"enumValues": "0,1", |
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"default": 1, |
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"decimalPlaces": 0 |
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} |
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}, |
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{ "id": 32, "rawName": "MAV_CMD_DO_FOLLOW", "friendlyName": "Follow Me" }, |
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{ "id": 33, "rawName": "MAV_CMD_DO_FOLLOW_REPOSITION", "friendlyName": "Vehicle reposition" }, |
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{ |
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"id": 81, |
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"rawName": "MAV_CMD_NAV_PATHPLANNING", |
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"friendlyName": "Path planning", |
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"description": "Control autonomous path planning.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "Advanced", |
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"param1": { |
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"label": "Local planning", |
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"enumStrings": "Disable,Enable,Enable+reset", |
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"enumValues": "0,1,2", |
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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": "Full planning", |
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"enumStrings": "Disable,Enable,Enable+reset,Enable+reset route only", |
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"enumValues": "0,1,2,3", |
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"default": 1, |
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"decimalPlaces": 0 |
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}, |
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"param4": { |
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"label": "Heading goal", |
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"default": 0, |
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"units": "deg", |
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"decimalPlaces": 2 |
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} |
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}, |
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{ |
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"id": 82, |
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"rawName": "MAV_CMD_NAV_SPLINE_WAYPOINT", |
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"friendlyName": "Spline waypoint", |
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"description": "Travel to a position in 3D space using spline path.", |
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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": "secs", |
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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": 83, "rawName": "MAV_CMD_NAV_ALTITUDE_WAIT", "friendlyName": "Altitude wait" }, |
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{ |
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"id": 84, |
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"rawName": "MAV_CMD_NAV_VTOL_TAKEOFF", |
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"friendlyName": "VTOL takeoff and transition", |
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"description": "Takeoff in VTOL mode, transition to forward flight and fly to the specified location.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "VTOL", |
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"param4": { |
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"label": "Heading", |
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"units": "deg", |
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"nanUnchanged": true, |
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"default": null, |
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"decimalPlaces": 2 |
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} |
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}, |
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{ |
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"id": 85, |
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"rawName": "MAV_CMD_NAV_VTOL_LAND", |
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"friendlyName": "VTOL transition and land", |
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"description": "Transition to VTOL mode and land.", |
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"specifiesCoordinate": true, |
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"friendlyEdit": true, |
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"category": "VTOL", |
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"param4": { |
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"label": "Heading", |
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"units": "deg", |
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"nanUnchanged": true, |
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"default": null, |
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"decimalPlaces": 2 |
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} |
|
}, |
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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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"enumStrings": "Disable,Enable", |
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"enumValues": "0,1", |
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"default": 1, |
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"decimalPlaces": 0 |
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} |
|
}, |
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{ |
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"id": 93, |
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"rawName": "MAV_CMD_NAV_DELAY", |
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"friendlyName": "Delay until", |
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"description": "Delay unti the specified time is reached.", |
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"param1": { |
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"label": "Hold", |
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"units": "secs", |
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"default": 30, |
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"decimalPlaces": 0 |
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}, |
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"param2": { |
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"label": "Hour (utc)", |
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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": "Min (utc)", |
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"default": 0, |
|
"decimalPlaces": 0 |
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}, |
|
"param4": { |
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"label": "Sec (utc)", |
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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": 112, |
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"rawName": "MAV_CMD_CONDITION_DELAY", |
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"friendlyName": "Delay", |
|
"description": "Delay the mission for the number of seconds.", |
|
"friendlyEdit": true, |
|
"category": "Basic", |
|
"param1": { |
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"label": "Hold", |
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"units": "secs", |
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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", |
|
"category": "Conditionals", |
|
"specifiesCoordinate": false, |
|
"specifiesAltitudeOnly": true, |
|
"param1": { |
|
"label": "Rate", |
|
"units": "m/s", |
|
"default": 5, |
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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", |
|
"param1": { |
|
"label": "Distance", |
|
"units": "m", |
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"default": 10, |
|
"decimalPlaces": 2 |
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} |
|
}, |
|
{ |
|
"id": 115, |
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"rawName": "MAV_CMD_CONDITION_YAW", |
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"friendlyName": "Wait for Heading", |
|
"description": "Delay the mission until the specified heading is reached.", |
|
"category": "Conditionals", |
|
"param1": { |
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"label": "Heading", |
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"units": "deg", |
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"default": 0, |
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"decimalPlaces": 1 |
|
}, |
|
"param2": { |
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"label": "Rate", |
|
"units": "degrees/s", |
|
"default": 5, |
|
"decimalPlaces": 1 |
|
}, |
|
"param3": { |
|
"label": "Direction", |
|
"enumStrings": "Clockwise,Counter-Clockwise", |
|
"enumValues": "1,-1", |
|
"default": 1 |
|
}, |
|
"param4": { |
|
"label": "Offset", |
|
"enumStrings": "Relative,Absolute", |
|
"enumValues": "1,0", |
|
"default": 1 |
|
} |
|
}, |
|
{ "id": 176, "rawName": "MAV_CMD_DO_SET_MODE", "friendlyName": "Set mode" }, |
|
{ |
|
"id": 176, |
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"rawName": "MAV_CMD_DO_SET_MODE", |
|
"friendlyName": "Set flight mode", |
|
"description": "Set flight mode.", |
|
"category": "Advanced", |
|
"param1": { |
|
"label": "Mode", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
}, |
|
"param2": { |
|
"label": "Custom Mode", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
}, |
|
"param3": { |
|
"label": "Sub Mode", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
} |
|
}, |
|
{ |
|
"id": 177, |
|
"rawName": "MAV_CMD_DO_JUMP", |
|
"friendlyName": "Jump to item", |
|
"description": "Mission will continue at the specified item.", |
|
"friendlyEdit": true, |
|
"category": "Advanced", |
|
"param1": { |
|
"label": "Item #", |
|
"default": 1, |
|
"decimalPlaces": 0 |
|
}, |
|
"param2": { |
|
"label": "Repeat", |
|
"default": 10, |
|
"decimalPlaces": 0 |
|
} |
|
}, |
|
{ |
|
"id": 178, |
|
"rawName": "MAV_CMD_DO_CHANGE_SPEED", |
|
"friendlyName": "Change speed", |
|
"description": "Change speed and/or throttle set points.", |
|
"category": "Flight control", |
|
"param1": { |
|
"label": "Type", |
|
"enumStrings": "Airspeed,Ground Speed", |
|
"enumValues": "0,1", |
|
"default": 0 |
|
}, |
|
"param2": { |
|
"label": "Speed", |
|
"units": "m/s", |
|
"default": 0 |
|
}, |
|
"param3": { |
|
"label": "Throttle", |
|
"units": "%", |
|
"default": 0 |
|
}, |
|
"param4": { |
|
"label": "Offset", |
|
"enumStrings": "Relative,Absolute", |
|
"enumValues": "1,0", |
|
"default": 0 |
|
} |
|
}, |
|
{ |
|
"id": 179, |
|
"rawName": "MAV_CMD_DO_SET_HOME", |
|
"friendlyName": "Set home location", |
|
"description": "Changes the home location either to the current location or a specified location.", |
|
"specifiesCoordinate": true, |
|
"standaloneCoordinate": true, |
|
"friendlyEdit": true, |
|
"category": "Advanced", |
|
"param1": { |
|
"label": "Mode", |
|
"enumStrings": "Vehicle position,Specified position", |
|
"enumValues": "1,0", |
|
"default": 0 |
|
} |
|
}, |
|
{ "id": 180, "rawName": "MAV_CMD_DO_SET_PARAMETER", "friendlyName": "Set Parameter" }, |
|
{ |
|
"id": 181, |
|
"rawName": "MAV_CMD_DO_SET_RELAY", |
|
"friendlyName": "Set relay", |
|
"description": "Set relay to a condition.", |
|
"param1": { |
|
"label": "Relay #", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
}, |
|
"param2": { |
|
"label": "Value", |
|
"default": 0 |
|
} |
|
}, |
|
{ |
|
"id": 182, |
|
"rawName": "MAV_CMD_DO_REPEAT_RELAY", |
|
"friendlyName": "Cycle relay", |
|
"description": "Cycle relay on/off for desired cycles/time.", |
|
"param1": { |
|
"label": "Relay #", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
}, |
|
"param2": { |
|
"label": "Cycles", |
|
"default": 1, |
|
"units": "count", |
|
"decimalPlaces": 0 |
|
}, |
|
"param3": { |
|
"label": "Time", |
|
"default": 10, |
|
"units": "secs", |
|
"decimalPlaces": 0 |
|
} |
|
}, |
|
{ |
|
"id": 183, |
|
"rawName": "MAV_CMD_DO_SET_SERVO", |
|
"friendlyName": "Set servo", |
|
"description": "Set servo to specified PWM value.", |
|
"friendlyEdit": true, |
|
"param1": { |
|
"label": "Servo", |
|
"default": 1, |
|
"decimalPlaces": 0 |
|
}, |
|
"param2": { |
|
"label": "PWM", |
|
"default": 1500, |
|
"decimalPlaces": 0 |
|
} |
|
}, |
|
{ |
|
"id": 184, |
|
"rawName": "MAV_CMD_DO_REPEAT_SERVO", |
|
"friendlyName": "Cycle servo", |
|
"description": "Set servo to specified PWM value.", |
|
"param1": { |
|
"label": "Servo", |
|
"default": 1, |
|
"decimalPlaces": 0 |
|
}, |
|
"param2": { |
|
"label": "PWM", |
|
"default": 1000, |
|
"decimalPlaces": 0 |
|
}, |
|
"param3": { |
|
"label": "Cycles", |
|
"default": 1, |
|
"units": "count", |
|
"decimalPlaces": 0 |
|
}, |
|
"param4": { |
|
"label": "Time", |
|
"default": 10, |
|
"units": "secs", |
|
"decimalPlaces": 0 |
|
} |
|
}, |
|
{ "id": 185, "rawName": "MAV_CMD_DO_FLIGHTTERMINATION", "friendlyName": "Flight termination" }, |
|
{ |
|
"id": 189, |
|
"rawName": "MAV_CMD_DO_LAND_START", |
|
"friendlyName": "Land start", |
|
"description": "Marker to indicate start of landing sequence.", |
|
"friendlyEdit": true, |
|
"category": "Flight control" |
|
}, |
|
{ "id": 190, "rawName": "MAV_CMD_DO_RALLY_LAND", "friendlyName": "Rally land" }, |
|
{ "id": 191, "rawName": "MAV_CMD_DO_GO_AROUND", "friendlyName": "Go around" }, |
|
{ "id": 192, "rawName": "MAV_CMD_DO_REPOSITION", "friendlyName": "Reposition" }, |
|
{ "id": 193, "rawName": "MAV_CMD_DO_PAUSE_CONTINUE", "friendlyName": "Pause/Continue" }, |
|
{ |
|
"id": 194, |
|
"rawName": "MAV_CMD_DO_SET_REVERSE", |
|
"friendlyName": "Set moving direction" , |
|
"description": "Set moving direction to forward or reverse.", |
|
"friendlyEdit": true, |
|
"category": "Advanced", |
|
"param1": { |
|
"label": "Direction", |
|
"enumStrings": "Forward,Reverse", |
|
"enumValues": "0,1", |
|
"default": 0 |
|
} |
|
}, |
|
{ |
|
"id": 195, |
|
"rawName": "MAV_CMD_DO_SET_ROI_LOCATION", |
|
"friendlyName": "Region of interest (ROI)" , |
|
"description": "Sets the region of interest for cameras.", |
|
"specifiesCoordinate": true, |
|
"standaloneCoordinate": true, |
|
"friendlyEdit": true, |
|
"category": "Camera" |
|
}, |
|
{ |
|
"id": 196, |
|
"rawName": "MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET", |
|
"friendlyName": "ROI to next waypoint" , |
|
"description": "Sets the region of interest to point towards the next waypoint with optional offsets.", |
|
"specifiesCoordinate": false, |
|
"friendlyEdit": true, |
|
"category": "Camera", |
|
"param5": { |
|
"label": "Pitch offset", |
|
"default": 0, |
|
"units": "deg", |
|
"decimalPlaces": 0 |
|
}, |
|
"param6": { |
|
"label": "Roll offset", |
|
"default": 0, |
|
"units": "deg", |
|
"decimalPlaces": 0 |
|
}, |
|
"param7": { |
|
"label": "Yaw offset", |
|
"default": 0, |
|
"units": "deg", |
|
"decimalPlaces": 0 |
|
} |
|
}, |
|
{ |
|
"id": 197, |
|
"rawName": "MAV_CMD_DO_SET_ROI_NONE", |
|
"friendlyName": "Cancel ROI" , |
|
"description": "Cancels the region of interest.", |
|
"specifiesCoordinate": false, |
|
"friendlyEdit": true, |
|
"category": "Camera" |
|
}, |
|
{ "id": 200, "rawName": "MAV_CMD_DO_CONTROL_VIDEO", "friendlyName": "Control video" }, |
|
{ |
|
"id": 201, |
|
"rawName": "MAV_CMD_DO_SET_ROI", |
|
"friendlyName": "Region of interest" , |
|
"description": "Sets the region of interest for cameras.", |
|
"specifiesCoordinate": true, |
|
"standaloneCoordinate": true, |
|
"friendlyEdit": true, |
|
"category": "Camera", |
|
"param1": { |
|
"label": "Mode", |
|
"enumStrings": "None,Next waypoint,Mission item,Location,ROI item", |
|
"enumValues": "0,1,2,3,4", |
|
"default": 3, |
|
"decimalPlaces": 0 |
|
}, |
|
"param2": { |
|
"label": "Mission Index", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
}, |
|
"param3": { |
|
"label": "ROI Index", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
} |
|
}, |
|
{ |
|
"id": 202, |
|
"rawName": "MAV_CMD_DO_DIGICAM_CONFIGURE", |
|
"friendlyName": "Camera config", |
|
"description": "Configure onboard camera controller.", |
|
"category": "Camera", |
|
"param1": { |
|
"label": "Mode", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
}, |
|
"param2": { |
|
"label": "Shutter spd", |
|
"default": 60, |
|
"units": "1/secs", |
|
"decimalPlaces": 0 |
|
}, |
|
"param3": { |
|
"label": "Aperture", |
|
"default": 4, |
|
"units": "F stop", |
|
"decimalPlaces": 1 |
|
}, |
|
"param4": { |
|
"label": "ISO", |
|
"default": 200, |
|
"decimalPlaces": 0 |
|
}, |
|
"param5": { |
|
"label": "Exposure", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
}, |
|
"param6": { |
|
"label": "Command", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
}, |
|
"param7": { |
|
"label": "Cut off", |
|
"default": 0, |
|
"decimalPlaces": 2 |
|
} |
|
}, |
|
{ |
|
"id": 203, |
|
"friendlyName": "Camera control", |
|
"rawName": "MAV_CMD_DO_DIGICAM_CONTROL", |
|
"description": "Control onboard camera.", |
|
"category": "Camera", |
|
"param1": { |
|
"label": "Session", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
}, |
|
"param2": { |
|
"label": "Zoom", |
|
"default": 0, |
|
"decimalPlaces": 3 |
|
}, |
|
"param3": { |
|
"label": "Step", |
|
"default": 0, |
|
"decimalPlaces": 3 |
|
}, |
|
"param4": { |
|
"label": "Focus lock", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
}, |
|
"param5": { |
|
"label": "Command", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
}, |
|
"param6": { |
|
"label": "Id", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
} |
|
}, |
|
{ |
|
"id": 204, |
|
"rawName": "MAV_CMD_DO_MOUNT_CONFIGURE", |
|
"friendlyName": "Configure Mount", |
|
"description": "Configure the vehicle mount (e.g. gimbal).", |
|
"category": "Advanced", |
|
"param1": { |
|
"label": "Mode", |
|
"default": 0, |
|
"decimalPlaces": 0, |
|
"enumStrings": "Retract,Neutral,Mavlink Targeting,RC Targeting,GPS Point", |
|
"enumValues": "0,1,2,3,4" |
|
}, |
|
"param2": { |
|
"label": "Stabilize Roll", |
|
"default": 0, |
|
"decimalPlaces": 0, |
|
"enumStrings": "No,Yes", |
|
"enumValues": "0,1" |
|
}, |
|
"param3": { |
|
"label": "Stabilize Pitch", |
|
"default": 0, |
|
"decimalPlaces": 0, |
|
"enumStrings": "No,Yes", |
|
"enumValues": "0,1" |
|
}, |
|
"param4": { |
|
"label": "Stabilize Yaw", |
|
"default": 0, |
|
"decimalPlaces": 0, |
|
"enumStrings": "No,Yes", |
|
"enumValues": "0,1" |
|
} |
|
}, |
|
{ |
|
"id": 205, |
|
"rawName": "MAV_CMD_DO_MOUNT_CONTROL", |
|
"friendlyName": "Control Mount", |
|
"description": "Control the vehicle mount (e.g. gimbal).", |
|
"category": "Advanced", |
|
"param1": { |
|
"label": "Lat/Pitch", |
|
"default": 0, |
|
"units": "deg", |
|
"decimalPlaces": 7 |
|
}, |
|
"param2": { |
|
"label": "Lon/Roll", |
|
"default": 0, |
|
"units": "deg", |
|
"decimalPlaces": 7 |
|
}, |
|
"param3": { |
|
"label": "Alt/Yaw", |
|
"default": 0, |
|
"decimalPlaces": 7 |
|
}, |
|
"param7": { |
|
"label": "Mode", |
|
"default": 0, |
|
"decimalPlaces": 0, |
|
"enumStrings": "Retract,Neutral,Mavlink Targeting,RC Targeting,GPS Point", |
|
"enumValues": "0,1,2,3,4" |
|
} |
|
}, |
|
{ |
|
"id": 206, |
|
"rawName": "MAV_CMD_DO_SET_CAM_TRIGG_DIST", |
|
"friendlyName": "Camera trigger distance", |
|
"description": "Set camera trigger distance.", |
|
"category": "Camera", |
|
"param1": { |
|
"label": "Distance", |
|
"default": 25, |
|
"units": "m", |
|
"decimalPlaces": 2 |
|
} |
|
}, |
|
{ |
|
"id": 207, |
|
"rawName": "MAV_CMD_DO_FENCE_ENABLE", |
|
"friendlyName": "Enable geofence", |
|
"description": "Enable/Disable geofence.", |
|
"specifiesCoordinate": false, |
|
"friendlyEdit": true, |
|
"category": "Safety", |
|
"param1": { |
|
"label": "Enable", |
|
"enumStrings": "Disable,Disable floor only,Enable", |
|
"enumValues": "0,2,1", |
|
"default": 1, |
|
"decimalPlaces": 0 |
|
} |
|
}, |
|
{ |
|
"id": 208, |
|
"rawName": "MAV_CMD_DO_PARACHUTE", |
|
"friendlyName": "Trigger parachute", |
|
"description": "Enable/Disable geofence.", |
|
"specifiesCoordinate": false, |
|
"friendlyEdit": true, |
|
"category": "Safety", |
|
"param1": { |
|
"label": "Trigger", |
|
"enumStrings": "Disable,Enable,Release", |
|
"enumValues": "0,1,2", |
|
"default": 1, |
|
"decimalPlaces": 0 |
|
} |
|
}, |
|
{ "id": 209, "rawName": "MAV_CMD_DO_MOTOR_TEST", "friendlyName": "Motor test" }, |
|
{ |
|
"id": 210, |
|
"rawName": "MAV_CMD_DO_INVERTED_FLIGHT", |
|
"friendlyName": "Inverted flight", |
|
"description": "Change to/from inverted flight.", |
|
"specifiesCoordinate": false, |
|
"friendlyEdit": true, |
|
"category": "Flight control", |
|
"param1": { |
|
"label": "Inverted", |
|
"enumStrings": "Normal,Inverted", |
|
"enumValues": "0,1", |
|
"default": 0 |
|
} |
|
}, |
|
{ |
|
"id": 211, |
|
"rawName": "MAV_CMD_DO_GRIPPER", |
|
"friendlyName": "Gripper", |
|
"description": "Operate EPM gripper.", |
|
"specifiesCoordinate": false, |
|
"friendlyEdit": true, |
|
"category": "Advanced", |
|
"param1": { |
|
"label": "Gripper id", |
|
"default": 1, |
|
"decimalPlaces": 0 |
|
}, |
|
"param2": { |
|
"label": "Action", |
|
"enumStrings": "Release,Grab", |
|
"enumValues": "0,1", |
|
"default": 0 |
|
} |
|
}, |
|
{ |
|
"id": 212, |
|
"rawName": "MAV_CMD_DO_AUTOTUNE_ENABLE", |
|
"friendlyName": "AutoTune Enable", |
|
"description": "AutoTune Enable.", |
|
"specifiesCoordinate": false, |
|
"friendlyEdit": true, |
|
"category": "Advanced", |
|
"param2": { |
|
"label": "Enable", |
|
"enumStrings": "Enable,Disable", |
|
"enumValues": "1,0", |
|
"default": 1 |
|
} |
|
}, |
|
{ "id": 220, "rawName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT" }, |
|
{ "id": 221, "rawName": "MAV_CMD_DO_GUIDED_MASTER" }, |
|
{ |
|
"id": 222, |
|
"rawName": "MAV_CMD_DO_GUIDED_LIMITS", |
|
"friendlyName": "Guided limits", |
|
"description": "Set limits for external control", |
|
"param1": { |
|
"label": "Timeout", |
|
"default": 0, |
|
"units": "secs", |
|
"decimalPlaces": 0 |
|
}, |
|
"param2": { |
|
"label": "Min Alt", |
|
"default": 25, |
|
"units": "m", |
|
"decimalPlaces": 2 |
|
}, |
|
"param3": { |
|
"label": "Max Alt", |
|
"units": "m", |
|
"default": 100, |
|
"decimalPlaces": 2 |
|
}, |
|
"param4": { |
|
"label": "H Limit", |
|
"default": 25, |
|
"units": "m", |
|
"decimalPlaces": 2 |
|
} |
|
}, |
|
{ "id": 241, "rawName": "MAV_CMD_PREFLIGHT_CALIBRATION", "friendlyName": "Calibration" }, |
|
{ "id": 242, "rawName": "MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS", "friendlyName": "Set sensor offsets" }, |
|
{ "id": 243, "rawName": "MAV_CMD_PREFLIGHT_UAVCAN", "friendlyName": "UAVCAN configure" }, |
|
{ "id": 245, "rawName": "MAV_CMD_PREFLIGHT_STORAGE", "friendlyName": "Store parameters" }, |
|
{ "id": 246, "rawName": "MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN", "friendlyName": "Reboot/Shutdown vehicle" }, |
|
{ "id": 252, "rawName": "MAV_CMD_OVERRIDE_GOTO", "friendlyName": "Override goto" }, |
|
{ "id": 300, "rawName": "MAV_CMD_MISSION_START", "friendlyName": "Mission start" }, |
|
{ "id": 400, "rawName": "MAV_CMD_COMPONENT_ARM_DISARM", "friendlyName": "Arm/Disarm" }, |
|
{ "id": 410, "rawName": "MAV_CMD_GET_HOME_POSITION", "friendlyName": "Get home position" }, |
|
{ "id": 500, "rawName": "MAV_CMD_START_RX_PAIR", "friendlyName": "Bind Spektrum receiver" }, |
|
{ "id": 510, "rawName": "MAV_CMD_GET_MESSAGE_INTERVAL", "friendlyName": "Get message interval" }, |
|
{ "id": 511, "rawName": "MAV_CMD_SET_MESSAGE_INTERVAL", "friendlyName": "Set message interval" }, |
|
{ "id": 520, "rawName": "MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES", "friendlyName": "Get capabilities" }, |
|
{ |
|
"id": 530, |
|
"rawName": "MAV_CMD_SET_CAMERA_MODE", |
|
"friendlyName": "Set camera modes" , |
|
"description": "Set camera photo, video modes.", |
|
"category": "Camera", |
|
"param2": { |
|
"label": "Mode", |
|
"enumStrings": "Take photos,Record video,Survey photo mode", |
|
"enumValues": "0,1,2", |
|
"default": 0 |
|
} |
|
}, |
|
{ |
|
"id": 2000, |
|
"rawName": "MAV_CMD_IMAGE_START_CAPTURE", |
|
"friendlyName": "Start image capture" , |
|
"description": "Start taking one or more photos.", |
|
"category": "Camera", |
|
"param1": { |
|
"label": "Reserved", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
}, |
|
"param2": { |
|
"label": "Interval", |
|
"default": 0, |
|
"units": "secs", |
|
"decimalPlaces": 0 |
|
}, |
|
"param3": { |
|
"label": "Photo count", |
|
"default": 1, |
|
"decimalPlaces": 0 |
|
} |
|
}, |
|
{ |
|
"id": 2001, |
|
"rawName": "MAV_CMD_IMAGE_STOP_CAPTURE", |
|
"friendlyName": "Stop image capture", |
|
"description": "Stop taking photos.", |
|
"category": "Camera", |
|
"param1": { |
|
"label": "Reserved", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
} |
|
}, |
|
{ "id": 2003, "rawName": "MAV_CMD_DO_TRIGGER_CONTROL", "friendlyName": "Trigger control" }, |
|
{ |
|
"id": 2500, |
|
"rawName": "MAV_CMD_VIDEO_START_CAPTURE", |
|
"friendlyName": "Start video capture", |
|
"description": "Start video capture.", |
|
"category": "Camera", |
|
"param1": { |
|
"label": "Reserved", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
} |
|
}, |
|
{ |
|
"id": 2501, |
|
"rawName": "MAV_CMD_VIDEO_STOP_CAPTURE", |
|
"friendlyName": "Stop video capture", |
|
"description": "Stop video capture.", |
|
"category": "Camera", |
|
"param1": { |
|
"label": "Reserved", |
|
"default": 0, |
|
"decimalPlaces": 0 |
|
} |
|
}, |
|
{ "id": 2800, "rawName": "MAV_CMD_PANORAMA_CREATE", "friendlyName": "Create panorama" }, |
|
{ |
|
"id": 3000, |
|
"rawName": "MAV_CMD_DO_VTOL_TRANSITION", |
|
"friendlyName": "VTOL Transition", |
|
"description": "Perform flight mode transition.", |
|
"category": "VTOL", |
|
"param1": { |
|
"label": "Mode", |
|
"default": 3, |
|
"enumStrings": "Hover Mode,Plane Mode", |
|
"enumValues": "3,4" |
|
} |
|
}, |
|
{ "id": 30001, "rawName": "MAV_CMD_PAYLOAD_PREPARE_DEPLOY", "friendlyName": "Payload prepare deploy" }, |
|
{ "id": 30002, "rawName": "MAV_CMD_PAYLOAD_CONTROL_DEPLOY", "friendlyName": "Payload control deploy" } |
|
] |
|
}
|
|
|