Every time I run an Accel Calibration I am getting this error. I have googled it and found nothing. I am using Mission Planner 1.3.31 and ArduPlane v3.3.0.
Anyone know what causes this?
Thanks,
Matt
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Closed
Ahrovan opened this issue
Jun 25, 2017
· 3 comments
Comments
I send range finder via MAVLINK. I set below setting:
1)
2)
3) show sonar range Right
4) but PreArm error occur and can not arm copter ( sometime say «error pos vert variance» and crush ):
PreArm: check range finder
PreArm: check range finder
PreArm: check range finder
PreArm: check range finder
PreArm: check range finder
PreArm: check range finder
PreArm: check range finder
PreArm: check range finder
PreArm: check range finder
PreArm: check range finder
PreArm: check range finder
PreArm: check range finder
PreArm: check range finder
EKF2 IMU1 is using optical flow
EKF2 IMU0 is using optical flow
PreArm: check range finder
PreArm: Need 3D Fix
EKF2 IMU1 tilt alignment complete
EKF2 IMU0 tilt alignment complete
EKF2 IMU1 initial yaw alignment complete
EKF2 IMU0 initial yaw alignment complete
Initialising APM
Initialising APM
[Copter-3.5.0-rc8- pixhawk — Mavros 0.19 + KINETIC ROS + «Optical flow Active and work»]
Ahrovan
changed the title
distance_sensor Problem
distance_sensor Problem + error pos vert variance
Jun 25, 2017
I check this note:
Copter 3.3-rc2/rc3 02-May-2015
Changes from 3.3-rc1
...
2) Optical flow improvements:
a) Range Finder pre-arm check - lift vehicle between 50cm ~ 2m before arming. Can be disabled by setting ARMING_CHECK to "Skip Params/Sonar"
b) Vehicle altitude limited to range finder altitude when optical flow is enabled
my range finder limit is 5 ~ 1000 cm (after Modify min_range & max_range ). and lift vehicle between 50cm ~ 2m but mission planner say again:
PreArm: check range finder
EKF primary changed:1
EKF primary changed:0
PreArm: check range finder
EKF primary changed:1
EKF primary changed:0
EKF primary changed:1
PreArm: check range finder
EKF primary changed:0
EKF primary changed:1
PreArm: check range finder
When lift vehicle ~20cm above ground i see this ressult:
EKF primary changed:1
EKF primary changed:0
EKF primary changed:1
EKF primary changed:0
EKF primary changed:1
EKF primary changed:0
EKF primary changed:1
EKF primary changed:0
EKF primary changed:1
EKF primary changed:0
EKF primary changed:1
EKF primary changed:0
EKF primary changed:1
EKF primary changed:0
EKF primary changed:1
This issues list is for feature requests and confirmed bugs. For user support please post in the forum (http://discuss.ardupilot.org).
Check that you are sending MAVLink messages fast enough — you need to have less than 500ms interval.
2 participants
Quote:
Originally Posted by hyper1on
manual tune imho 
i try 4 and 6 level for binary 1200 and it was bad as you see on a video.
If you don’t mine trying some tests for me I’d like to work out why autotune is doing badly on your aircraft. I have 3 sets of flights logs showing poor autotune performance, from yourself, rimb05 and Tevellyan.
Looking at your level 6 log (called level6.bin) I can see a 3.5Hz oscillation in roll after the tune. There are two likely causes of this:
— the speed at which your aircraft can respond to aileron commands is below RLL_RATE_SMAX, which leads the autotune not to detect the oscillation
— the filtering settings that I’ve defaulted to for 4.1.0beta are too low, leading to phase lag in the control response
I suspect it is the filter settings being too low. Could I get you to load the parameters from your level6 autotune, which were:
RLL2SRV_RMAX 75
RLL2SRV_TCONST 0.5
RLL_RATE_D 0.012132
RLL_RATE_FF 0.185291
RLL_RATE_FLTD 4.0
RLL_RATE_FLTE 7.0
RLL_RATE_FLTT 3.0
RLL_RATE_I 0.185291
RLL_RATE_IMAX 0.666667
RLL_RATE_P 0.209862
RLL_RATE_SMAX 150
and then try raising the filter frequencies to 10Hz. That is, change:
RLL_RATE_FLTD from 4 to 10
RLL_RATE_FLTE from 7 to 10
RLL_RATE_FLTT from 3 to 10
my theory is that the agressive filtering of the PID elements is causing too much phase lag which is what is leading to the oscillation. The one I think is most likely causing the issue is FLTT, which is the target filter, but please raise all 3 of them to 10Hz. Your aircraft is fairly low noise, so I don’t think it needs these agressive filters anyway (although it may need the D filter, as D is much more prone to noise).
If you find that raising the filter cutoff frequencies helps then it would be great if you could test raising just FLTT to see if that is the key change. I’m considering raising the default value for FLTT from 3 to 10 for the next beta and would like to know if that alone helps.
If that doesn’t help then you could try lowering RLL_RATE_SMAX and tuning again (also at level 6). You’re currently on the default of 75Hz. Try dropping to 50Hz. Please do that as a separate test from the filter changes, as I suspect the filter changes are the key, and lowering the SMAX will result in a softer tune.
Thanks for your help with this. The autotune algorithm is quite new and while it did well for the aircraft that Henry and I tested during it’s development it is not surprising that there are aircraft it does badly for. With a bit of testing I’m hoping we can adjust the filter defaults to make it work well for a lot more aircraft.
Dialect: ArduPilotMega
These messages define the ArduPilot specific message set, which is custom to http://ardupilot.org.
This topic is a human-readable form of the XML definition file: ardupilotmega.xml.
The ArduPilot MAVLink fork of ardupilotmega.xml may contain messages that have not yet been merged into this documentation.
MAVLink 2 messages have an ID > 255 and are marked up using (MAVLink 2) in their description.
MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue.
MAVLink Include Files: common.xml
MAVLink Include Files: uAvionix.xml
MAVLink Include Files: icarous.xml
MAVLink Include Files: cubepilot.xml
This file has protocol dialect: 2.
MAVLink Type Enumerations
ACCELCAL_VEHICLE_POS
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 1 | ACCELCAL_VEHICLE_POS_LEVEL | |
| 2 | ACCELCAL_VEHICLE_POS_LEFT | |
| 3 | ACCELCAL_VEHICLE_POS_RIGHT | |
| 4 | ACCELCAL_VEHICLE_POS_NOSEDOWN | |
| 5 | ACCELCAL_VEHICLE_POS_NOSEUP | |
| 6 | ACCELCAL_VEHICLE_POS_BACK | |
| 16777215 | ACCELCAL_VEHICLE_POS_SUCCESS | |
| 16777216 | ACCELCAL_VEHICLE_POS_FAILED |
HEADING_TYPE
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | HEADING_TYPE_COURSE_OVER_GROUND | |
| 1 | HEADING_TYPE_HEADING |
SPEED_TYPE
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | SPEED_TYPE_AIRSPEED | |
| 1 | SPEED_TYPE_GROUNDSPEED |
SCRIPTING_CMD
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | SCRIPTING_CMD_REPL_START | Start a REPL session. |
| 1 | SCRIPTING_CMD_REPL_STOP | End a REPL session. |
| 2 | SCRIPTING_CMD_STOP | Stop execution of scripts. |
| 3 | SCRIPTING_CMD_STOP_AND_RESTART | Stop execution of scripts and restart. |
LIMITS_STATE
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | LIMITS_INIT | Pre-initialization. |
| 1 | LIMITS_DISABLED | Disabled. |
| 2 | LIMITS_ENABLED | Checking limits. |
| 3 | LIMITS_TRIGGERED | A limit has been breached. |
| 4 | LIMITS_RECOVERING | Taking action e.g. Return/RTL. |
| 5 | LIMITS_RECOVERED | We’re no longer in breach of a limit. |
LIMIT_MODULE
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 1 | LIMIT_GPSLOCK | Pre-initialization. |
| 2 | LIMIT_GEOFENCE | Disabled. |
| 4 | LIMIT_ALTITUDE | Checking limits. |
RALLY_FLAGS
[Enum] Flags in RALLY_POINT message.
| Value | Field Name | Description |
|---|---|---|
| 1 | FAVORABLE_WIND | Flag set when requiring favorable winds for landing. |
| 2 | LAND_IMMEDIATELY | Flag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land. |
CAMERA_STATUS_TYPES
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | CAMERA_STATUS_TYPE_HEARTBEAT | Camera heartbeat, announce camera component ID at 1Hz. |
| 1 | CAMERA_STATUS_TYPE_TRIGGER | Camera image triggered. |
| 2 | CAMERA_STATUS_TYPE_DISCONNECT | Camera connection lost. |
| 3 | CAMERA_STATUS_TYPE_ERROR | Camera unknown error. |
| 4 | CAMERA_STATUS_TYPE_LOWBATT | Camera battery low. Parameter p1 shows reported voltage. |
| 5 | CAMERA_STATUS_TYPE_LOWSTORE | Camera storage low. Parameter p1 shows reported shots remaining. |
| 6 | CAMERA_STATUS_TYPE_LOWSTOREV | Camera storage low. Parameter p1 shows reported video minutes remaining. |
CAMERA_FEEDBACK_FLAGS
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | CAMERA_FEEDBACK_PHOTO | Shooting photos, not video. |
| 1 | CAMERA_FEEDBACK_VIDEO | Shooting video, not stills. |
| 2 | CAMERA_FEEDBACK_BADEXPOSURE | Unable to achieve requested exposure (e.g. shutter speed too low). |
| 3 | CAMERA_FEEDBACK_CLOSEDLOOP | Closed loop feedback from camera, we know for sure it has successfully taken a picture. |
| 4 | CAMERA_FEEDBACK_OPENLOOP | Open loop camera, an image trigger has been requested but we can’t know for sure it has successfully taken a picture. |
MAV_MODE_GIMBAL
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_MODE_GIMBAL_UNINITIALIZED | Gimbal is powered on but has not started initializing yet. |
| 1 | MAV_MODE_GIMBAL_CALIBRATING_PITCH | Gimbal is currently running calibration on the pitch axis. |
| 2 | MAV_MODE_GIMBAL_CALIBRATING_ROLL | Gimbal is currently running calibration on the roll axis. |
| 3 | MAV_MODE_GIMBAL_CALIBRATING_YAW | Gimbal is currently running calibration on the yaw axis. |
| 4 | MAV_MODE_GIMBAL_INITIALIZED | Gimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter. |
| 5 | MAV_MODE_GIMBAL_ACTIVE | Gimbal is actively stabilizing. |
| 6 | MAV_MODE_GIMBAL_RATE_CMD_TIMEOUT | Gimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command. |
GIMBAL_AXIS
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GIMBAL_AXIS_YAW | Gimbal yaw axis. |
| 1 | GIMBAL_AXIS_PITCH | Gimbal pitch axis. |
| 2 | GIMBAL_AXIS_ROLL | Gimbal roll axis. |
GIMBAL_AXIS_CALIBRATION_STATUS
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESS | Axis calibration is in progress. |
| 1 | GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDED | Axis calibration succeeded. |
| 2 | GIMBAL_AXIS_CALIBRATION_STATUS_FAILED | Axis calibration failed. |
GIMBAL_AXIS_CALIBRATION_REQUIRED
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWN | Whether or not this axis requires calibration is unknown at this time. |
| 1 | GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUE | This axis requires calibration. |
| 2 | GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSE | This axis does not require calibration. |
GOPRO_HEARTBEAT_STATUS
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GOPRO_HEARTBEAT_STATUS_DISCONNECTED | No GoPro connected. |
| 1 | GOPRO_HEARTBEAT_STATUS_INCOMPATIBLE | The detected GoPro is not HeroBus compatible. |
| 2 | GOPRO_HEARTBEAT_STATUS_CONNECTED | A HeroBus compatible GoPro is connected. |
| 3 | GOPRO_HEARTBEAT_STATUS_ERROR | An unrecoverable error was encountered with the connected GoPro, it may require a power cycle. |
GOPRO_HEARTBEAT_FLAGS
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 1 | GOPRO_FLAG_RECORDING | GoPro is currently recording. |
GOPRO_REQUEST_STATUS
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GOPRO_REQUEST_SUCCESS | The write message with ID indicated succeeded. |
| 1 | GOPRO_REQUEST_FAILED | The write message with ID indicated failed. |
GOPRO_COMMAND
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GOPRO_COMMAND_POWER | (Get/Set). |
| 1 | GOPRO_COMMAND_CAPTURE_MODE | (Get/Set). |
| 2 | GOPRO_COMMAND_SHUTTER | (___/Set). |
| 3 | GOPRO_COMMAND_BATTERY | (Get/___). |
| 4 | GOPRO_COMMAND_MODEL | (Get/___). |
| 5 | GOPRO_COMMAND_VIDEO_SETTINGS | (Get/Set). |
| 6 | GOPRO_COMMAND_LOW_LIGHT | (Get/Set). |
| 7 | GOPRO_COMMAND_PHOTO_RESOLUTION | (Get/Set). |
| 8 | GOPRO_COMMAND_PHOTO_BURST_RATE | (Get/Set). |
| 9 | GOPRO_COMMAND_PROTUNE | (Get/Set). |
| 10 | GOPRO_COMMAND_PROTUNE_WHITE_BALANCE | (Get/Set) Hero 3+ Only. |
| 11 | GOPRO_COMMAND_PROTUNE_COLOUR | (Get/Set) Hero 3+ Only. |
| 12 | GOPRO_COMMAND_PROTUNE_GAIN | (Get/Set) Hero 3+ Only. |
| 13 | GOPRO_COMMAND_PROTUNE_SHARPNESS | (Get/Set) Hero 3+ Only. |
| 14 | GOPRO_COMMAND_PROTUNE_EXPOSURE | (Get/Set) Hero 3+ Only. |
| 15 | GOPRO_COMMAND_TIME | (Get/Set). |
| 16 | GOPRO_COMMAND_CHARGING | (Get/Set). |
GOPRO_CAPTURE_MODE
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GOPRO_CAPTURE_MODE_VIDEO | Video mode. |
| 1 | GOPRO_CAPTURE_MODE_PHOTO | Photo mode. |
| 2 | GOPRO_CAPTURE_MODE_BURST | Burst mode, Hero 3+ only. |
| 3 | GOPRO_CAPTURE_MODE_TIME_LAPSE | Time lapse mode, Hero 3+ only. |
| 4 | GOPRO_CAPTURE_MODE_MULTI_SHOT | Multi shot mode, Hero 4 only. |
| 5 | GOPRO_CAPTURE_MODE_PLAYBACK | Playback mode, Hero 4 only, silver only except when LCD or HDMI is connected to black. |
| 6 | GOPRO_CAPTURE_MODE_SETUP | Playback mode, Hero 4 only. |
| 255 | GOPRO_CAPTURE_MODE_UNKNOWN | Mode not yet known. |
GOPRO_RESOLUTION
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GOPRO_RESOLUTION_480p | 848 x 480 (480p). |
| 1 | GOPRO_RESOLUTION_720p | 1280 x 720 (720p). |
| 2 | GOPRO_RESOLUTION_960p | 1280 x 960 (960p). |
| 3 | GOPRO_RESOLUTION_1080p | 1920 x 1080 (1080p). |
| 4 | GOPRO_RESOLUTION_1440p | 1920 x 1440 (1440p). |
| 5 | GOPRO_RESOLUTION_2_7k_17_9 | 2704 x 1440 (2.7k-17:9). |
| 6 | GOPRO_RESOLUTION_2_7k_16_9 | 2704 x 1524 (2.7k-16:9). |
| 7 | GOPRO_RESOLUTION_2_7k_4_3 | 2704 x 2028 (2.7k-4:3). |
| 8 | GOPRO_RESOLUTION_4k_16_9 | 3840 x 2160 (4k-16:9). |
| 9 | GOPRO_RESOLUTION_4k_17_9 | 4096 x 2160 (4k-17:9). |
| 10 | GOPRO_RESOLUTION_720p_SUPERVIEW | 1280 x 720 (720p-SuperView). |
| 11 | GOPRO_RESOLUTION_1080p_SUPERVIEW | 1920 x 1080 (1080p-SuperView). |
| 12 | GOPRO_RESOLUTION_2_7k_SUPERVIEW | 2704 x 1520 (2.7k-SuperView). |
| 13 | GOPRO_RESOLUTION_4k_SUPERVIEW | 3840 x 2160 (4k-SuperView). |
GOPRO_FRAME_RATE
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GOPRO_FRAME_RATE_12 | 12 FPS. |
| 1 | GOPRO_FRAME_RATE_15 | 15 FPS. |
| 2 | GOPRO_FRAME_RATE_24 | 24 FPS. |
| 3 | GOPRO_FRAME_RATE_25 | 25 FPS. |
| 4 | GOPRO_FRAME_RATE_30 | 30 FPS. |
| 5 | GOPRO_FRAME_RATE_48 | 48 FPS. |
| 6 | GOPRO_FRAME_RATE_50 | 50 FPS. |
| 7 | GOPRO_FRAME_RATE_60 | 60 FPS. |
| 8 | GOPRO_FRAME_RATE_80 | 80 FPS. |
| 9 | GOPRO_FRAME_RATE_90 | 90 FPS. |
| 10 | GOPRO_FRAME_RATE_100 | 100 FPS. |
| 11 | GOPRO_FRAME_RATE_120 | 120 FPS. |
| 12 | GOPRO_FRAME_RATE_240 | 240 FPS. |
| 13 | GOPRO_FRAME_RATE_12_5 | 12.5 FPS. |
GOPRO_FIELD_OF_VIEW
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GOPRO_FIELD_OF_VIEW_WIDE | 0x00: Wide. |
| 1 | GOPRO_FIELD_OF_VIEW_MEDIUM | 0x01: Medium. |
| 2 | GOPRO_FIELD_OF_VIEW_NARROW | 0x02: Narrow. |
GOPRO_VIDEO_SETTINGS_FLAGS
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 1 | GOPRO_VIDEO_SETTINGS_TV_MODE | 0=NTSC, 1=PAL. |
GOPRO_PHOTO_RESOLUTION
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM | 5MP Medium. |
| 1 | GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM | 7MP Medium. |
| 2 | GOPRO_PHOTO_RESOLUTION_7MP_WIDE | 7MP Wide. |
| 3 | GOPRO_PHOTO_RESOLUTION_10MP_WIDE | 10MP Wide. |
| 4 | GOPRO_PHOTO_RESOLUTION_12MP_WIDE | 12MP Wide. |
GOPRO_PROTUNE_WHITE_BALANCE
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GOPRO_PROTUNE_WHITE_BALANCE_AUTO | Auto. |
| 1 | GOPRO_PROTUNE_WHITE_BALANCE_3000K | 3000K. |
| 2 | GOPRO_PROTUNE_WHITE_BALANCE_5500K | 5500K. |
| 3 | GOPRO_PROTUNE_WHITE_BALANCE_6500K | 6500K. |
| 4 | GOPRO_PROTUNE_WHITE_BALANCE_RAW | Camera Raw. |
GOPRO_PROTUNE_COLOUR
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GOPRO_PROTUNE_COLOUR_STANDARD | Auto. |
| 1 | GOPRO_PROTUNE_COLOUR_NEUTRAL | Neutral. |
GOPRO_PROTUNE_GAIN
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GOPRO_PROTUNE_GAIN_400 | ISO 400. |
| 1 | GOPRO_PROTUNE_GAIN_800 | ISO 800 (Only Hero 4). |
| 2 | GOPRO_PROTUNE_GAIN_1600 | ISO 1600. |
| 3 | GOPRO_PROTUNE_GAIN_3200 | ISO 3200 (Only Hero 4). |
| 4 | GOPRO_PROTUNE_GAIN_6400 | ISO 6400. |
GOPRO_PROTUNE_SHARPNESS
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GOPRO_PROTUNE_SHARPNESS_LOW | Low Sharpness. |
| 1 | GOPRO_PROTUNE_SHARPNESS_MEDIUM | Medium Sharpness. |
| 2 | GOPRO_PROTUNE_SHARPNESS_HIGH | High Sharpness. |
GOPRO_PROTUNE_EXPOSURE
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GOPRO_PROTUNE_EXPOSURE_NEG_5_0 | -5.0 EV (Hero 3+ Only). |
| 1 | GOPRO_PROTUNE_EXPOSURE_NEG_4_5 | -4.5 EV (Hero 3+ Only). |
| 2 | GOPRO_PROTUNE_EXPOSURE_NEG_4_0 | -4.0 EV (Hero 3+ Only). |
| 3 | GOPRO_PROTUNE_EXPOSURE_NEG_3_5 | -3.5 EV (Hero 3+ Only). |
| 4 | GOPRO_PROTUNE_EXPOSURE_NEG_3_0 | -3.0 EV (Hero 3+ Only). |
| 5 | GOPRO_PROTUNE_EXPOSURE_NEG_2_5 | -2.5 EV (Hero 3+ Only). |
| 6 | GOPRO_PROTUNE_EXPOSURE_NEG_2_0 | -2.0 EV. |
| 7 | GOPRO_PROTUNE_EXPOSURE_NEG_1_5 | -1.5 EV. |
| 8 | GOPRO_PROTUNE_EXPOSURE_NEG_1_0 | -1.0 EV. |
| 9 | GOPRO_PROTUNE_EXPOSURE_NEG_0_5 | -0.5 EV. |
| 10 | GOPRO_PROTUNE_EXPOSURE_ZERO | 0.0 EV. |
| 11 | GOPRO_PROTUNE_EXPOSURE_POS_0_5 | +0.5 EV. |
| 12 | GOPRO_PROTUNE_EXPOSURE_POS_1_0 | +1.0 EV. |
| 13 | GOPRO_PROTUNE_EXPOSURE_POS_1_5 | +1.5 EV. |
| 14 | GOPRO_PROTUNE_EXPOSURE_POS_2_0 | +2.0 EV. |
| 15 | GOPRO_PROTUNE_EXPOSURE_POS_2_5 | +2.5 EV (Hero 3+ Only). |
| 16 | GOPRO_PROTUNE_EXPOSURE_POS_3_0 | +3.0 EV (Hero 3+ Only). |
| 17 | GOPRO_PROTUNE_EXPOSURE_POS_3_5 | +3.5 EV (Hero 3+ Only). |
| 18 | GOPRO_PROTUNE_EXPOSURE_POS_4_0 | +4.0 EV (Hero 3+ Only). |
| 19 | GOPRO_PROTUNE_EXPOSURE_POS_4_5 | +4.5 EV (Hero 3+ Only). |
| 20 | GOPRO_PROTUNE_EXPOSURE_POS_5_0 | +5.0 EV (Hero 3+ Only). |
GOPRO_CHARGING
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GOPRO_CHARGING_DISABLED | Charging disabled. |
| 1 | GOPRO_CHARGING_ENABLED | Charging enabled. |
GOPRO_MODEL
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GOPRO_MODEL_UNKNOWN | Unknown gopro model. |
| 1 | GOPRO_MODEL_HERO_3_PLUS_SILVER | Hero 3+ Silver (HeroBus not supported by GoPro). |
| 2 | GOPRO_MODEL_HERO_3_PLUS_BLACK | Hero 3+ Black. |
| 3 | GOPRO_MODEL_HERO_4_SILVER | Hero 4 Silver. |
| 4 | GOPRO_MODEL_HERO_4_BLACK | Hero 4 Black. |
GOPRO_BURST_RATE
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | GOPRO_BURST_RATE_3_IN_1_SECOND | 3 Shots / 1 Second. |
| 1 | GOPRO_BURST_RATE_5_IN_1_SECOND | 5 Shots / 1 Second. |
| 2 | GOPRO_BURST_RATE_10_IN_1_SECOND | 10 Shots / 1 Second. |
| 3 | GOPRO_BURST_RATE_10_IN_2_SECOND | 10 Shots / 2 Second. |
| 4 | GOPRO_BURST_RATE_10_IN_3_SECOND | 10 Shots / 3 Second (Hero 4 Only). |
| 5 | GOPRO_BURST_RATE_30_IN_1_SECOND | 30 Shots / 1 Second. |
| 6 | GOPRO_BURST_RATE_30_IN_2_SECOND | 30 Shots / 2 Second. |
| 7 | GOPRO_BURST_RATE_30_IN_3_SECOND | 30 Shots / 3 Second. |
| 8 | GOPRO_BURST_RATE_30_IN_6_SECOND | 30 Shots / 6 Second. |
MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_LOW | Switch Low. |
| 1 | MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_MIDDLE | Switch Middle. |
| 2 | MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_HIGH | Switch High. |
LED_CONTROL_PATTERN
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 0 | LED_CONTROL_PATTERN_OFF | LED patterns off (return control to regular vehicle control). |
| 1 | LED_CONTROL_PATTERN_FIRMWAREUPDATE | LEDs show pattern during firmware update. |
| 255 | LED_CONTROL_PATTERN_CUSTOM | Custom Pattern using custom bytes fields. |
EKF_STATUS_FLAGS
[Enum] Flags in EKF_STATUS message.
| Value | Field Name | Description |
|---|---|---|
| 1 | EKF_ATTITUDE | Set if EKF’s attitude estimate is good. |
| 2 | EKF_VELOCITY_HORIZ | Set if EKF’s horizontal velocity estimate is good. |
| 4 | EKF_VELOCITY_VERT | Set if EKF’s vertical velocity estimate is good. |
| 8 | EKF_POS_HORIZ_REL | Set if EKF’s horizontal position (relative) estimate is good. |
| 16 | EKF_POS_HORIZ_ABS | Set if EKF’s horizontal position (absolute) estimate is good. |
| 32 | EKF_POS_VERT_ABS | Set if EKF’s vertical position (absolute) estimate is good. |
| 64 | EKF_POS_VERT_AGL | Set if EKF’s vertical position (above ground) estimate is good. |
| 128 | EKF_CONST_POS_MODE | EKF is in constant position mode and does not know it’s absolute or relative position. |
| 256 | EKF_PRED_POS_HORIZ_REL | Set if EKF’s predicted horizontal position (relative) estimate is good. |
| 512 | EKF_PRED_POS_HORIZ_ABS | Set if EKF’s predicted horizontal position (absolute) estimate is good. |
| 1024 | EKF_UNINITIALIZED | Set if EKF has never been healthy. |
PID_TUNING_AXIS
[Enum]
| Value | Field Name | Description |
|---|---|---|
| 1 | PID_TUNING_ROLL | |
| 2 | PID_TUNING_PITCH | |
| 3 | PID_TUNING_YAW | |
| 4 | PID_TUNING_ACCZ | |
| 5 | PID_TUNING_STEER | |
| 6 | PID_TUNING_LANDING |
MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS
[Enum] Special ACK block numbers control activation of dataflash log streaming.
| Value | Field Name | Description |
|---|---|---|
| 2147483645 | MAV_REMOTE_LOG_DATA_BLOCK_STOP | UAV to stop sending DataFlash blocks. |
| 2147483646 | MAV_REMOTE_LOG_DATA_BLOCK_START | UAV to start sending DataFlash blocks. |
MAV_REMOTE_LOG_DATA_BLOCK_STATUSES
[Enum] Possible remote log data block statuses.
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_REMOTE_LOG_DATA_BLOCK_NACK | This block has NOT been received. |
| 1 | MAV_REMOTE_LOG_DATA_BLOCK_ACK | This block has been received. |
DEVICE_OP_BUSTYPE
[Enum] Bus types for device operations.
| Value | Field Name | Description |
|---|---|---|
| 0 | DEVICE_OP_BUSTYPE_I2C | I2C Device operation. |
| 1 | DEVICE_OP_BUSTYPE_SPI | SPI Device operation. |
DEEPSTALL_STAGE
[Enum] Deepstall flight stage.
| Value | Field Name | Description |
|---|---|---|
| 0 | DEEPSTALL_STAGE_FLY_TO_LANDING | Flying to the landing point. |
| 1 | DEEPSTALL_STAGE_ESTIMATE_WIND | Building an estimate of the wind. |
| 2 | DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT | Waiting to breakout of the loiter to fly the approach. |
| 3 | DEEPSTALL_STAGE_FLY_TO_ARC | Flying to the first arc point to turn around to the landing point. |
| 4 | DEEPSTALL_STAGE_ARC | Turning around back to the deepstall landing point. |
| 5 | DEEPSTALL_STAGE_APPROACH | Approaching the landing point. |
| 6 | DEEPSTALL_STAGE_LAND | Stalling and steering towards the land point. |
PLANE_MODE
[Enum] A mapping of plane flight modes for custom_mode field of heartbeat.
| Value | Field Name | Description |
|---|---|---|
| 0 | PLANE_MODE_MANUAL | |
| 1 | PLANE_MODE_CIRCLE | |
| 2 | PLANE_MODE_STABILIZE | |
| 3 | PLANE_MODE_TRAINING | |
| 4 | PLANE_MODE_ACRO | |
| 5 | PLANE_MODE_FLY_BY_WIRE_A | |
| 6 | PLANE_MODE_FLY_BY_WIRE_B | |
| 7 | PLANE_MODE_CRUISE | |
| 8 | PLANE_MODE_AUTOTUNE | |
| 10 | PLANE_MODE_AUTO | |
| 11 | PLANE_MODE_RTL | |
| 12 | PLANE_MODE_LOITER | |
| 13 | PLANE_MODE_TAKEOFF | |
| 14 | PLANE_MODE_AVOID_ADSB | |
| 15 | PLANE_MODE_GUIDED | |
| 16 | PLANE_MODE_INITIALIZING | |
| 17 | PLANE_MODE_QSTABILIZE | |
| 18 | PLANE_MODE_QHOVER | |
| 19 | PLANE_MODE_QLOITER | |
| 20 | PLANE_MODE_QLAND | |
| 21 | PLANE_MODE_QRTL | |
| 22 | PLANE_MODE_QAUTOTUNE | |
| 23 | PLANE_MODE_QACRO | |
| 24 | PLANE_MODE_THERMAL |
COPTER_MODE
[Enum] A mapping of copter flight modes for custom_mode field of heartbeat.
| Value | Field Name | Description |
|---|---|---|
| 0 | COPTER_MODE_STABILIZE | |
| 1 | COPTER_MODE_ACRO | |
| 2 | COPTER_MODE_ALT_HOLD | |
| 3 | COPTER_MODE_AUTO | |
| 4 | COPTER_MODE_GUIDED | |
| 5 | COPTER_MODE_LOITER | |
| 6 | COPTER_MODE_RTL | |
| 7 | COPTER_MODE_CIRCLE | |
| 9 | COPTER_MODE_LAND | |
| 11 | COPTER_MODE_DRIFT | |
| 13 | COPTER_MODE_SPORT | |
| 14 | COPTER_MODE_FLIP | |
| 15 | COPTER_MODE_AUTOTUNE | |
| 16 | COPTER_MODE_POSHOLD | |
| 17 | COPTER_MODE_BRAKE | |
| 18 | COPTER_MODE_THROW | |
| 19 | COPTER_MODE_AVOID_ADSB | |
| 20 | COPTER_MODE_GUIDED_NOGPS | |
| 21 | COPTER_MODE_SMART_RTL | |
| 22 | COPTER_MODE_FLOWHOLD | |
| 23 | COPTER_MODE_FOLLOW | |
| 24 | COPTER_MODE_ZIGZAG | |
| 25 | COPTER_MODE_SYSTEMID | |
| 26 | COPTER_MODE_AUTOROTATE | |
| 27 | COPTER_MODE_AUTO_RTL |
SUB_MODE
[Enum] A mapping of sub flight modes for custom_mode field of heartbeat.
| Value | Field Name | Description |
|---|---|---|
| 0 | SUB_MODE_STABILIZE | |
| 1 | SUB_MODE_ACRO | |
| 2 | SUB_MODE_ALT_HOLD | |
| 3 | SUB_MODE_AUTO | |
| 4 | SUB_MODE_GUIDED | |
| 7 | SUB_MODE_CIRCLE | |
| 9 | SUB_MODE_SURFACE | |
| 16 | SUB_MODE_POSHOLD | |
| 19 | SUB_MODE_MANUAL |
ROVER_MODE
[Enum] A mapping of rover flight modes for custom_mode field of heartbeat.
| Value | Field Name | Description |
|---|---|---|
| 0 | ROVER_MODE_MANUAL | |
| 1 | ROVER_MODE_ACRO | |
| 3 | ROVER_MODE_STEERING | |
| 4 | ROVER_MODE_HOLD | |
| 5 | ROVER_MODE_LOITER | |
| 6 | ROVER_MODE_FOLLOW | |
| 7 | ROVER_MODE_SIMPLE | |
| 10 | ROVER_MODE_AUTO | |
| 11 | ROVER_MODE_RTL | |
| 12 | ROVER_MODE_SMART_RTL | |
| 15 | ROVER_MODE_GUIDED | |
| 16 | ROVER_MODE_INITIALIZING |
TRACKER_MODE
[Enum] A mapping of antenna tracker flight modes for custom_mode field of heartbeat.
| Value | Field Name | Description |
|---|---|---|
| 0 | TRACKER_MODE_MANUAL | |
| 1 | TRACKER_MODE_STOP | |
| 2 | TRACKER_MODE_SCAN | |
| 3 | TRACKER_MODE_SERVO_TEST | |
| 10 | TRACKER_MODE_AUTO | |
| 16 | TRACKER_MODE_INITIALIZING |
OSD_PARAM_CONFIG_TYPE
[Enum] The type of parameter for the OSD parameter editor.
| Value | Field Name | Description |
|---|---|---|
| 0 | OSD_PARAM_NONE | |
| 1 | OSD_PARAM_SERIAL_PROTOCOL | |
| 2 | OSD_PARAM_SERVO_FUNCTION | |
| 3 | OSD_PARAM_AUX_FUNCTION | |
| 4 | OSD_PARAM_FLIGHT_MODE | |
| 5 | OSD_PARAM_FAILSAFE_ACTION | |
| 6 | OSD_PARAM_FAILSAFE_ACTION_1 | |
| 7 | OSD_PARAM_FAILSAFE_ACTION_2 | |
| 8 | OSD_PARAM_NUM_TYPES |
OSD_PARAM_CONFIG_ERROR
[Enum] The error type for the OSD parameter editor.
| Value | Field Name | Description |
|---|---|---|
| 0 | OSD_PARAM_SUCCESS | |
| 1 | OSD_PARAM_INVALID_SCREEN | |
| 2 | OSD_PARAM_INVALID_PARAMETER_INDEX | |
| 3 | OSD_PARAM_INVALID_PARAMETER |
MAVLink Commands (MAV_CMD)
MAVLink commands (MAV_CMD) and messages are different! These commands define the values of up to 7 parameters that are packaged INSIDE specific messages used in the Mission Protocol and Command Protocol. Use commands for actions in missions or if you need acknowledgment and/or retry logic from a request. Otherwise use messages.
MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215 )
[Command] Set the distance to be repeated on mission resume
| Param (:Label) | Description | Units |
|---|---|---|
| 1: Distance | Distance. | m |
| 2 | Empty. | |
| 3 | Empty. | |
| 4 | Empty. | |
| 5 | Empty. | |
| 6 | Empty. | |
| 7 | Empty. |
MAV_CMD_DO_SPRAYER (216 )
[Command] Control attached liquid sprayer
| Param (:Label) | Description | Values |
|---|---|---|
| 1: Sprayer Enable | 0: disable sprayer. 1: enable sprayer. | min:0 max:1 increment:1 |
| 2 | Empty. | |
| 3 | Empty. | |
| 4 | Empty. | |
| 5 | Empty. | |
| 6 | Empty. | |
| 7 | Empty. |
MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217 )
[Command] Pass instructions onto scripting, a script should be checking for a new command
| Param (:Label) | Description | Values |
|---|---|---|
| 1: ID | uint16 ID value to be passed to scripting | min:0 max:65535 increment:1 |
| 2: param 1 | float value to be passed to scripting | |
| 3: param 2 | float value to be passed to scripting | |
| 4: param 3 | float value to be passed to scripting | |
| 5 | Empty. | |
| 6 | Empty. | |
| 7 | Empty. |
MAV_CMD_DO_AUX_FUNCTION (218 )
[Command] Execute auxiliary function
| Param (:Label) | Description | Values |
|---|---|---|
| 1: AuxiliaryFunction | Auxiliary Function. | |
| 2: SwitchPosition | Switch Level. | MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL |
| 3 | Empty. | |
| 4 | Empty. | |
| 5 | Empty. | |
| 6 | Empty. | |
| 7 | Empty. |
MAV_CMD_NAV_ALTITUDE_WAIT (83 )
[Command] Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up.
| Param (:Label) | Description | Units |
|---|---|---|
| 1: Altitude | Altitude. | m |
| 2: Descent Speed | Descent speed. | m/s |
| 3: Wiggle Time | How long to wiggle the control surfaces to prevent them seizing up. | s |
| 4 | Empty. | |
| 5 | Empty. | |
| 6 | Empty. | |
| 7 | Empty. |
MAV_CMD_POWER_OFF_INITIATED (42000 )
[Command] A system wide power-off event has been initiated.
| Param (:Label) | Description |
|---|---|
| 1 | Empty. |
| 2 | Empty. |
| 3 | Empty. |
| 4 | Empty. |
| 5 | Empty. |
| 6 | Empty. |
| 7 | Empty. |
MAV_CMD_SOLO_BTN_FLY_CLICK (42001 )
[Command] FLY button has been clicked.
| Param (:Label) | Description |
|---|---|
| 1 | Empty. |
| 2 | Empty. |
| 3 | Empty. |
| 4 | Empty. |
| 5 | Empty. |
| 6 | Empty. |
| 7 | Empty. |
MAV_CMD_SOLO_BTN_FLY_HOLD (42002 )
[Command] FLY button has been held for 1.5 seconds.
| Param (:Label) | Description | Units |
|---|---|---|
| 1: Takeoff Altitude | Takeoff altitude. | m |
| 2 | Empty. | |
| 3 | Empty. | |
| 4 | Empty. | |
| 5 | Empty. | |
| 6 | Empty. | |
| 7 | Empty. |
MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003 )
[Command] PAUSE button has been clicked.
| Param (:Label) | Description | Values |
|---|---|---|
| 1: Shot Mode | 1 if Solo is in a shot mode, 0 otherwise. | min:0 max:1 increment:1 |
| 2 | Empty. | |
| 3 | Empty. | |
| 4 | Empty. | |
| 5 | Empty. | |
| 6 | Empty. | |
| 7 | Empty. |
MAV_CMD_FIXED_MAG_CAL (42004 )
[Command] Magnetometer calibration based on fixed position in earth field given by inclination, declination and intensity.
| Param (:Label) | Description | Units |
|---|---|---|
| 1: Declination | Magnetic declination. | deg |
| 2: Inclination | Magnetic inclination. | deg |
| 3: Intensity | Magnetic intensity. | mgauss |
| 4: Yaw | Yaw. | deg |
| 5 | Empty. | |
| 6 | Empty. | |
| 7 | Empty. |
MAV_CMD_FIXED_MAG_CAL_FIELD (42005 )
[Command] Magnetometer calibration based on fixed expected field values.
| Param (:Label) | Description | Units |
|---|---|---|
| 1: Field X | Field strength X. | mgauss |
| 2: Field Y | Field strength Y. | mgauss |
| 3: Field Z | Field strength Z. | mgauss |
| 4 | Empty. | |
| 5 | Empty. | |
| 6 | Empty. | |
| 7 | Empty. |
MAV_CMD_SET_EKF_SOURCE_SET (42007 )
[Command] Set EKF sensor source set.
| Param (:Label) | Description | Values |
|---|---|---|
| 1: SourceSetId | Source Set Id. | min:1 max:3 increment:1 |
| 2 | Empty. | |
| 3 | Empty. | |
| 4 | Empty. | |
| 5 | Empty. | |
| 6 | Empty. | |
| 7 | Empty. |
MAV_CMD_DO_START_MAG_CAL (42424 )
[Command] Initiate a magnetometer calibration.
| Param (:Label) | Description | Values | Units |
|---|---|---|---|
| 1: Magnetometers Bitmask | Bitmask of magnetometers to calibrate. Use 0 to calibrate all sensors that can be started (sensors may not start if disabled, unhealthy, etc.). The command will NACK if calibration does not start for a sensor explicitly specified by the bitmask. | min:0 max:255 increment:1 | |
| 2: Retry on Failure | Automatically retry on failure (0=no retry, 1=retry). | min:0 max:1 increment:1 | |
| 3: Autosave | Save without user input (0=require input, 1=autosave). | min:0 max:1 increment:1 | |
| 4: Delay | Delay. | s | |
| 5: Autoreboot | Autoreboot (0=user reboot, 1=autoreboot). | min:0 max:1 increment:1 | |
| 6 | Empty. | ||
| 7 | Empty. |
MAV_CMD_DO_ACCEPT_MAG_CAL (42425 )
[Command] Accept a magnetometer calibration.
| Param (:Label) | Description | Values |
|---|---|---|
| 1: Magnetometers Bitmask | Bitmask of magnetometers that calibration is accepted (0 means all). | min:0 max:255 increment:1 |
| 2 | Empty. | |
| 3 | Empty. | |
| 4 | Empty. | |
| 5 | Empty. | |
| 6 | Empty. | |
| 7 | Empty. |
MAV_CMD_DO_CANCEL_MAG_CAL (42426 )
[Command] Cancel a running magnetometer calibration.
| Param (:Label) | Description | Values |
|---|---|---|
| 1: Magnetometers Bitmask | Bitmask of magnetometers to cancel a running calibration (0 means all). | min:0 max:255 increment:1 |
| 2 | Empty. | |
| 3 | Empty. | |
| 4 | Empty. | |
| 5 | Empty. | |
| 6 | Empty. | |
| 7 | Empty. |
MAV_CMD_ACCELCAL_VEHICLE_POS (42429 )
[Command] Used when doing accelerometer calibration. When sent to the GCS tells it what position to put the vehicle in. When sent to the vehicle says what position the vehicle is in.
| Param (:Label) | Description | Values |
|---|---|---|
| 1: Position | Position. | ACCELCAL_VEHICLE_POS |
| 2 | Empty. | |
| 3 | Empty. | |
| 4 | Empty. | |
| 5 | Empty. | |
| 6 | Empty. | |
| 7 | Empty. |
[Command] Reply with the version banner.
| Param (:Label) | Description |
|---|---|
| 1 | Empty. |
| 2 | Empty. |
| 3 | Empty. |
| 4 | Empty. |
| 5 | Empty. |
| 6 | Empty. |
| 7 | Empty. |
MAV_CMD_SET_FACTORY_TEST_MODE (42427 )
[Command] Command autopilot to get into factory test/diagnostic mode.
| Param (:Label) | Description | Values |
|---|---|---|
| 1: Test Mode | 0: activate test mode, 1: exit test mode. | min:0 max:1 increment:1 |
| 2 | Empty. | |
| 3 | Empty. | |
| 4 | Empty. | |
| 5 | Empty. | |
| 6 | Empty. | |
| 7 | Empty. |
MAV_CMD_GIMBAL_RESET (42501 )
[Command] Causes the gimbal to reset and boot as if it was just powered on.
| Param (:Label) | Description |
|---|---|
| 1 | Empty. |
| 2 | Empty. |
| 3 | Empty. |
| 4 | Empty. |
| 5 | Empty. |
| 6 | Empty. |
| 7 | Empty. |
MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502 )
[Command] Reports progress and success or failure of gimbal axis calibration procedure.
| Param (:Label) | Description | Values | Units |
|---|---|---|---|
| 1: Axis | Gimbal axis we’re reporting calibration progress for. | GIMBAL_AXIS | |
| 2: Progress | Current calibration progress for this axis. | min:0 max:100 | % |
| 3: Status | Status of the calibration. | GIMBAL_AXIS_CALIBRATION_STATUS | |
| 4 | Empty. | ||
| 5 | Empty. | ||
| 6 | Empty. | ||
| 7 | Empty. |
MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503 )
[Command] Starts commutation calibration on the gimbal.
| Param (:Label) | Description |
|---|---|
| 1 | Empty. |
| 2 | Empty. |
| 3 | Empty. |
| 4 | Empty. |
| 5 | Empty. |
| 6 | Empty. |
| 7 | Empty. |
MAV_CMD_GIMBAL_FULL_RESET (42505 )
[Command] Erases gimbal application and parameters.
| Param (:Label) | Description |
|---|---|
| 1 | Magic number. |
| 2 | Magic number. |
| 3 | Magic number. |
| 4 | Magic number. |
| 5 | Magic number. |
| 6 | Magic number. |
| 7 | Magic number. |
MAV_CMD_FLASH_BOOTLOADER (42650 )
[Command] Update the bootloader
| Param (:Label) | Description | Values |
|---|---|---|
| 1 | Empty | |
| 2 | Empty | |
| 3 | Empty | |
| 4 | Empty | |
| 5: Magic Number | Magic number — set to 290876 to actually flash | increment:1 |
| 6 | Empty | |
| 7 | Empty |
MAV_CMD_BATTERY_RESET (42651 )
[Command] Reset battery capacity for batteries that accumulate consumed battery via integration.
| Param (:Label) | Description | Values |
|---|---|---|
| 1: battery mask | Bitmask of batteries to reset. Least significant bit is for the first battery. | |
| 2: percentage | Battery percentage remaining to set. | min:0 max:100 increment:1 |
MAV_CMD_DEBUG_TRAP (42700 )
[Command] Issue a trap signal to the autopilot process, presumably to enter the debugger.
| Param (:Label) | Description |
|---|---|
| 1 | Magic number — set to 32451 to actually trap. |
| 2 | Empty. |
| 3 | Empty. |
| 4 | Empty. |
| 5 | Empty. |
| 6 | Empty. |
| 7 | Empty. |
MAV_CMD_SCRIPTING (42701 )
[Command] Control onboard scripting.
| Param (:Label) | Description | Values |
|---|---|---|
| 1 | Scripting command to execute | SCRIPTING_CMD |
MAV_CMD_NAV_SCRIPT_TIME (42702 )
[Command] Scripting command as NAV command with wait for completion.
| Param (:Label) | Description | Units |
|---|---|---|
| 1: command | integer command number (0 to 255) | |
| 2: timeout | timeout for operation in seconds. Zero means no timeout (0 to 255) | s |
| 3: arg1 | argument1. | |
| 4: arg2 | argument2. | |
| 5 | Empty | |
| 6 | Empty | |
| 7 | Empty |
MAV_CMD_NAV_ATTITUDE_TIME (42703 )
[Command] Maintain an attitude for a specified time.
| Param (:Label) | Description | Units |
|---|---|---|
| 1: time | Time to maintain specified attitude and climb rate | s |
| 2: roll | Roll angle in degrees (positive is lean right, negative is lean left) | deg |
| 3: pitch | Pitch angle in degrees (positive is lean back, negative is lean forward) | deg |
| 4: yaw | Yaw angle | deg |
| 5: climb_rate | Climb rate | m/s |
| 6 | Empty | |
| 7 | Empty |
MAV_CMD_GUIDED_CHANGE_SPEED (43000 )
[Command] Change flight speed at a given rate. This slews the vehicle at a controllable rate between it’s previous speed and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)
| Param (:Label) | Description | Values | Units |
|---|---|---|---|
| 1: speed type | Airspeed or groundspeed. | SPEED_TYPE | |
| 2: speed target | Target Speed | m/s | |
| 3: speed rate-of-change | Acceleration rate, 0 to take effect instantly | m/s/s | |
| 4 | Empty | ||
| 5 | Empty | ||
| 6 | Empty | ||
| 7 | Empty |
MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001 )
[Command] Change target altitude at a given rate. This slews the vehicle at a controllable rate between it’s previous altitude and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)
| Param (:Label) | Description | Values | Units |
|---|---|---|---|
| 1 | Empty | ||
| 2 | Empty | ||
| 3: alt rate-of-change | Rate of change, toward new altitude. 0 for maximum rate change. Positive numbers only, as negative numbers will not converge on the new target alt. | min:0 | m/s/s |
| 4 | Empty | ||
| 5 | Empty | ||
| 6 | Empty | ||
| 7: target alt | Target Altitude | m |
MAV_CMD_GUIDED_CHANGE_HEADING (43002 )
[Command] Change to target heading at a given rate, overriding previous heading/s. This slews the vehicle at a controllable rate between it’s previous heading and the new one. (affects GUIDED only. Exiting GUIDED returns aircraft to normal behaviour defined elsewhere. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)
| Param (:Label) | Description | Values | Units |
|---|---|---|---|
| 1: heading type | course-over-ground or raw vehicle heading. | HEADING_TYPE | |
| 2: heading target | Target heading. | min:0 max:359.99 | deg |
| 3: heading rate-of-change | Maximum centripetal accelearation, ie rate of change, toward new heading. | m/s/s | |
| 4 | Empty | ||
| 5 | Empty | ||
| 6 | Empty | ||
| 7 | Empty |
MAVLink Messages
SENSOR_OFFSETS ( #150 )
[Message] Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process.
| Field Name | Type | Units | Description |
|---|---|---|---|
| mag_ofs_x | int16_t | Magnetometer X offset. | |
| mag_ofs_y | int16_t | Magnetometer Y offset. | |
| mag_ofs_z | int16_t | Magnetometer Z offset. | |
| mag_declination | float | rad | Magnetic declination. |
| raw_press | int32_t | Raw pressure from barometer. | |
| raw_temp | int32_t | Raw temperature from barometer. | |
| gyro_cal_x | float | Gyro X calibration. | |
| gyro_cal_y | float | Gyro Y calibration. | |
| gyro_cal_z | float | Gyro Z calibration. | |
| accel_cal_x | float | Accel X calibration. | |
| accel_cal_y | float | Accel Y calibration. | |
| accel_cal_z | float | Accel Z calibration. |
SET_MAG_OFFSETS ( #151 )
DEPRECATED: Replaced by MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (2014-07).
[Message] Set the magnetometer offsets
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID. |
| target_component | uint8_t | Component ID. |
| mag_ofs_x | int16_t | Magnetometer X offset. |
| mag_ofs_y | int16_t | Magnetometer Y offset. |
| mag_ofs_z | int16_t | Magnetometer Z offset. |
MEMINFO ( #152 )
[Message] State of autopilot RAM.
| Field Name | Type | Units | Description |
|---|---|---|---|
| brkval | uint16_t | Heap top. | |
| freemem | uint16_t | bytes | Free memory. |
| freemem32 ** | uint32_t | bytes | Free memory (32 bit). |
AP_ADC ( #153 )
[Message] Raw ADC output.
| Field Name | Type | Description |
|---|---|---|
| adc1 | uint16_t | ADC output 1. |
| adc2 | uint16_t | ADC output 2. |
| adc3 | uint16_t | ADC output 3. |
| adc4 | uint16_t | ADC output 4. |
| adc5 | uint16_t | ADC output 5. |
| adc6 | uint16_t | ADC output 6. |
DIGICAM_CONFIGURE ( #154 )
[Message] Configure on-board Camera Control System.
| Field Name | Type | Units | Description |
|---|---|---|---|
| target_system | uint8_t | System ID. | |
| target_component | uint8_t | Component ID. | |
| mode | uint8_t | Mode enumeration from 1 to N //P, TV, AV, M, etc. (0 means ignore). | |
| shutter_speed | uint16_t | Divisor number //e.g. 1000 means 1/1000 (0 means ignore). | |
| aperture | uint8_t | F stop number x 10 //e.g. 28 means 2.8 (0 means ignore). | |
| iso | uint8_t | ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore). | |
| exposure_type | uint8_t | Exposure type enumeration from 1 to N (0 means ignore). | |
| command_id | uint8_t | Command Identity (incremental loop: 0 to 255). //A command sent multiple times will be executed or pooled just once. | |
| engine_cut_off | uint8_t | ds | Main engine cut-off time before camera trigger (0 means no cut-off). |
| extra_param | uint8_t | Extra parameters enumeration (0 means ignore). | |
| extra_value | float | Correspondent value to given extra_param. |
DIGICAM_CONTROL ( #155 )
[Message] Control on-board Camera Control System to take shots.
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID. |
| target_component | uint8_t | Component ID. |
| session | uint8_t | 0: stop, 1: start or keep it up //Session control e.g. show/hide lens. |
| zoom_pos | uint8_t | 1 to N //Zoom’s absolute position (0 means ignore). |
| zoom_step | int8_t | -100 to 100 //Zooming step value to offset zoom from the current position. |
| focus_lock | uint8_t | 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus. |
| shot | uint8_t | 0: ignore, 1: shot or start filming. |
| command_id | uint8_t | Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once. |
| extra_param | uint8_t | Extra parameters enumeration (0 means ignore). |
| extra_value | float | Correspondent value to given extra_param. |
MOUNT_CONFIGURE ( #156 )
[Message] Message to configure a camera mount, directional antenna, etc.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID. | |
| target_component | uint8_t | Component ID. | |
| mount_mode | uint8_t | MAV_MOUNT_MODE | Mount operating mode. |
| stab_roll | uint8_t | (1 = yes, 0 = no). | |
| stab_pitch | uint8_t | (1 = yes, 0 = no). | |
| stab_yaw | uint8_t | (1 = yes, 0 = no). |
MOUNT_CONTROL ( #157 )
[Message] Message to control a camera mount, directional antenna, etc.
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID. |
| target_component | uint8_t | Component ID. |
| input_a | int32_t | Pitch (centi-degrees) or lat (degE7), depending on mount mode. |
| input_b | int32_t | Roll (centi-degrees) or lon (degE7) depending on mount mode. |
| input_c | int32_t | Yaw (centi-degrees) or alt (cm) depending on mount mode. |
| save_position | uint8_t | If «1» it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING). |
MOUNT_STATUS ( #158 )
[Message] Message with some status from autopilot to GCS about camera or antenna mount.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| target_system | uint8_t | System ID. | ||
| target_component | uint8_t | Component ID. | ||
| pointing_a | int32_t | cdeg | Pitch. | |
| pointing_b | int32_t | cdeg | Roll. | |
| pointing_c | int32_t | cdeg | Yaw. | |
| mount_mode ** | uint8_t | MAV_MOUNT_MODE | Mount operating mode. |
FENCE_POINT ( #160 )
[Message] A fence point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.
| Field Name | Type | Units | Description |
|---|---|---|---|
| target_system | uint8_t | System ID. | |
| target_component | uint8_t | Component ID. | |
| idx | uint8_t | Point index (first point is 1, 0 is for return point). | |
| count | uint8_t | Total number of points (for sanity checking). | |
| lat | float | deg | Latitude of point. |
| lng | float | deg | Longitude of point. |
FENCE_FETCH_POINT ( #161 )
[Message] Request a current fence point from MAV.
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID. |
| target_component | uint8_t | Component ID. |
| idx | uint8_t | Point index (first point is 1, 0 is for return point). |
AHRS ( #163 )
[Message] Status of DCM attitude estimator.
| Field Name | Type | Units | Description |
|---|---|---|---|
| omegaIx | float | rad/s | X gyro drift estimate. |
| omegaIy | float | rad/s | Y gyro drift estimate. |
| omegaIz | float | rad/s | Z gyro drift estimate. |
| accel_weight | float | Average accel_weight. | |
| renorm_val | float | Average renormalisation value. | |
| error_rp | float | Average error_roll_pitch value. | |
| error_yaw | float | Average error_yaw value. |
SIMSTATE ( #164 )
[Message] Status of simulation environment, if used.
| Field Name | Type | Units | Description |
|---|---|---|---|
| roll | float | rad | Roll angle. |
| pitch | float | rad | Pitch angle. |
| yaw | float | rad | Yaw angle. |
| xacc | float | m/s/s | X acceleration. |
| yacc | float | m/s/s | Y acceleration. |
| zacc | float | m/s/s | Z acceleration. |
| xgyro | float | rad/s | Angular speed around X axis. |
| ygyro | float | rad/s | Angular speed around Y axis. |
| zgyro | float | rad/s | Angular speed around Z axis. |
| lat | int32_t | degE7 | Latitude. |
| lng | int32_t | degE7 | Longitude. |
HWSTATUS ( #165 )
[Message] Status of key hardware.
| Field Name | Type | Units | Description |
|---|---|---|---|
| Vcc | uint16_t | mV | Board voltage. |
| I2Cerr | uint8_t | I2C error count. |
RADIO ( #166 )
[Message] Status generated by radio.
| Field Name | Type | Units | Description |
|---|---|---|---|
| rssi | uint8_t | Local signal strength. | |
| remrssi | uint8_t | Remote signal strength. | |
| txbuf | uint8_t | % | How full the tx buffer is. |
| noise | uint8_t | Background noise level. | |
| remnoise | uint8_t | Remote background noise level. | |
| rxerrors | uint16_t | Receive errors. | |
| fixed | uint16_t | Count of error corrected packets. |
LIMITS_STATUS ( #167 )
[Message] Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| limits_state | uint8_t | LIMITS_STATE | State of AP_Limits. | |
| last_trigger | uint32_t | ms | Time (since boot) of last breach. | |
| last_action | uint32_t | ms | Time (since boot) of last recovery action. | |
| last_recovery | uint32_t | ms | Time (since boot) of last successful recovery. | |
| last_clear | uint32_t | ms | Time (since boot) of last all-clear. | |
| breach_count | uint16_t | Number of fence breaches. | ||
| mods_enabled | uint8_t | LIMIT_MODULE | AP_Limit_Module bitfield of enabled modules. | |
| mods_required | uint8_t | LIMIT_MODULE | AP_Limit_Module bitfield of required modules. | |
| mods_triggered | uint8_t | LIMIT_MODULE | AP_Limit_Module bitfield of triggered modules. |
WIND ( #168 )
[Message] Wind estimation.
| Field Name | Type | Units | Description |
|---|---|---|---|
| direction | float | deg | Wind direction (that wind is coming from). |
| speed | float | m/s | Wind speed in ground plane. |
| speed_z | float | m/s | Vertical wind speed. |
DATA16 ( #169 )
[Message] Data packet, size 16.
| Field Name | Type | Units | Description |
|---|---|---|---|
| type | uint8_t | Data type. | |
| len | uint8_t | bytes | Data length. |
| data | uint8_t[16] | Raw data. |
DATA32 ( #170 )
[Message] Data packet, size 32.
| Field Name | Type | Units | Description |
|---|---|---|---|
| type | uint8_t | Data type. | |
| len | uint8_t | bytes | Data length. |
| data | uint8_t[32] | Raw data. |
DATA64 ( #171 )
[Message] Data packet, size 64.
| Field Name | Type | Units | Description |
|---|---|---|---|
| type | uint8_t | Data type. | |
| len | uint8_t | bytes | Data length. |
| data | uint8_t[64] | Raw data. |
DATA96 ( #172 )
[Message] Data packet, size 96.
| Field Name | Type | Units | Description |
|---|---|---|---|
| type | uint8_t | Data type. | |
| len | uint8_t | bytes | Data length. |
| data | uint8_t[96] | Raw data. |
RANGEFINDER ( #173 )
[Message] Rangefinder reporting.
| Field Name | Type | Units | Description |
|---|---|---|---|
| distance | float | m | Distance. |
| voltage | float | V | Raw voltage if available, zero otherwise. |
AIRSPEED_AUTOCAL ( #174 )
[Message] Airspeed auto-calibration.
| Field Name | Type | Units | Description |
|---|---|---|---|
| vx | float | m/s | GPS velocity north. |
| vy | float | m/s | GPS velocity east. |
| vz | float | m/s | GPS velocity down. |
| diff_pressure | float | Pa | Differential pressure. |
| EAS2TAS | float | Estimated to true airspeed ratio. | |
| ratio | float | Airspeed ratio. | |
| state_x | float | EKF state x. | |
| state_y | float | EKF state y. | |
| state_z | float | EKF state z. | |
| Pax | float | EKF Pax. | |
| Pby | float | EKF Pby. | |
| Pcz | float | EKF Pcz. |
RALLY_POINT ( #175 )
[Message] A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| target_system | uint8_t | System ID. | ||
| target_component | uint8_t | Component ID. | ||
| idx | uint8_t | Point index (first point is 0). | ||
| count | uint8_t | Total number of points (for sanity checking). | ||
| lat | int32_t | degE7 | Latitude of point. | |
| lng | int32_t | degE7 | Longitude of point. | |
| alt | int16_t | m | Transit / loiter altitude relative to home. | |
| break_alt | int16_t | m | Break altitude relative to home. | |
| land_dir | uint16_t | cdeg | Heading to aim for when landing. | |
| flags | uint8_t | RALLY_FLAGS | Configuration flags. |
RALLY_FETCH_POINT ( #176 )
[Message] Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid.
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID. |
| target_component | uint8_t | Component ID. |
| idx | uint8_t | Point index (first point is 0). |
COMPASSMOT_STATUS ( #177 )
[Message] Status of compassmot calibration.
| Field Name | Type | Units | Description |
|---|---|---|---|
| throttle | uint16_t | d% | Throttle. |
| current | float | A | Current. |
| interference | uint16_t | % | Interference. |
| CompensationX | float | Motor Compensation X. | |
| CompensationY | float | Motor Compensation Y. | |
| CompensationZ | float | Motor Compensation Z. |
AHRS2 ( #178 )
[Message] Status of secondary AHRS filter if available.
| Field Name | Type | Units | Description |
|---|---|---|---|
| roll | float | rad | Roll angle. |
| pitch | float | rad | Pitch angle. |
| yaw | float | rad | Yaw angle. |
| altitude | float | m | Altitude (MSL). |
| lat | int32_t | degE7 | Latitude. |
| lng | int32_t | degE7 | Longitude. |
CAMERA_STATUS ( #179 )
[Message] Camera Event.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_usec | uint64_t | us | Image timestamp (since UNIX epoch, according to camera clock). | |
| target_system | uint8_t | System ID. | ||
| cam_idx | uint8_t | Camera ID. | ||
| img_idx | uint16_t | Image index. | ||
| event_id | uint8_t | CAMERA_STATUS_TYPES | Event type. | |
| p1 | float | Parameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). | ||
| p2 | float | Parameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). | ||
| p3 | float | Parameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). | ||
| p4 | float | Parameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). |
CAMERA_FEEDBACK ( #180 )
[Message] Camera Capture Feedback.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_usec | uint64_t | us | Image timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB). | |
| target_system | uint8_t | System ID. | ||
| cam_idx | uint8_t | Camera ID. | ||
| img_idx | uint16_t | Image index. | ||
| lat | int32_t | degE7 | Latitude. | |
| lng | int32_t | degE7 | Longitude. | |
| alt_msl | float | m | Altitude (MSL). | |
| alt_rel | float | m | Altitude (Relative to HOME location). | |
| roll | float | deg | Camera Roll angle (earth frame, +-180). | |
| pitch | float | deg | Camera Pitch angle (earth frame, +-180). | |
| yaw | float | deg | Camera Yaw (earth frame, 0-360, true). | |
| foc_len | float | mm | Focal Length. | |
| flags | uint8_t | CAMERA_FEEDBACK_FLAGS | Feedback flags. | |
| completed_captures ** | uint16_t | Completed image captures. |
BATTERY2 ( #181 )
DEPRECATED: Replaced by BATTERY_STATUS (2017-04).
[Message] 2nd Battery status
| Field Name | Type | Units | Description |
|---|---|---|---|
| voltage | uint16_t | mV | Voltage. |
| current_battery | int16_t | cA | Battery current, -1: autopilot does not measure the current. |
AHRS3 ( #182 )
[Message] Status of third AHRS filter if available. This is for ANU research group (Ali and Sean).
| Field Name | Type | Units | Description |
|---|---|---|---|
| roll | float | rad | Roll angle. |
| pitch | float | rad | Pitch angle. |
| yaw | float | rad | Yaw angle. |
| altitude | float | m | Altitude (MSL). |
| lat | int32_t | degE7 | Latitude. |
| lng | int32_t | degE7 | Longitude. |
| v1 | float | Test variable1. | |
| v2 | float | Test variable2. | |
| v3 | float | Test variable3. | |
| v4 | float | Test variable4. |
AUTOPILOT_VERSION_REQUEST ( #183 )
[Message] Request the autopilot version from the system/component.
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID. |
| target_component | uint8_t | Component ID. |
REMOTE_LOG_DATA_BLOCK ( #184 )
[Message] Send a block of log data to remote location.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID. | |
| target_component | uint8_t | Component ID. | |
| seqno | uint32_t | MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS | Log data block sequence number. |
| data | uint8_t[200] | Log data block. |
REMOTE_LOG_BLOCK_STATUS ( #185 )
[Message] Send Status of each log block that autopilot board might have sent.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID. | |
| target_component | uint8_t | Component ID. | |
| seqno | uint32_t | Log data block sequence number. | |
| status | uint8_t | MAV_REMOTE_LOG_DATA_BLOCK_STATUSES | Log data block status. |
LED_CONTROL ( #186 )
[Message] Control vehicle LEDs.
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID. |
| target_component | uint8_t | Component ID. |
| instance | uint8_t | Instance (LED instance to control or 255 for all LEDs). |
| pattern | uint8_t | Pattern (see LED_PATTERN_ENUM). |
| custom_len | uint8_t | Custom Byte Length. |
| custom_bytes | uint8_t[24] | Custom Bytes. |
MAG_CAL_PROGRESS ( #191 )
[Message] Reports progress of compass calibration.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| compass_id | uint8_t | Compass being calibrated. | ||
| cal_mask | uint8_t | Bitmask of compasses being calibrated. | ||
| cal_status | uint8_t | MAG_CAL_STATUS | Calibration Status. | |
| attempt | uint8_t | Attempt number. | ||
| completion_pct | uint8_t | % | Completion percentage. | |
| completion_mask | uint8_t[10] | Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid). | ||
| direction_x | float | Body frame direction vector for display. | ||
| direction_y | float | Body frame direction vector for display. | ||
| direction_z | float | Body frame direction vector for display. |
EKF_STATUS_REPORT ( #193 )
[Message] EKF Status message including flags and variances.
| Field Name | Type | Values | Description |
|---|---|---|---|
| flags | uint16_t | EKF_STATUS_FLAGS | Flags. |
| velocity_variance | float | Velocity variance. | |
| pos_horiz_variance | float | Horizontal Position variance. | |
| pos_vert_variance | float | Vertical Position variance. | |
| compass_variance | float | Compass variance. | |
| terrain_alt_variance | float | Terrain Altitude variance. | |
| airspeed_variance ** | float | Airspeed variance. |
PID_TUNING ( #194 )
[Message] PID tuning information.
| Field Name | Type | Values | Description |
|---|---|---|---|
| axis | uint8_t | PID_TUNING_AXIS | Axis. |
| desired | float | Desired rate. | |
| achieved | float | Achieved rate. | |
| FF | float | FF component. | |
| P | float | P component. | |
| I | float | I component. | |
| D | float | D component. | |
| SRate ** | float | Slew rate. | |
| PDmod ** | float | P/D oscillation modifier. |
DEEPSTALL ( #195 )
[Message] Deepstall path planning.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| landing_lat | int32_t | degE7 | Landing latitude. | |
| landing_lon | int32_t | degE7 | Landing longitude. | |
| path_lat | int32_t | degE7 | Final heading start point, latitude. | |
| path_lon | int32_t | degE7 | Final heading start point, longitude. | |
| arc_entry_lat | int32_t | degE7 | Arc entry point, latitude. | |
| arc_entry_lon | int32_t | degE7 | Arc entry point, longitude. | |
| altitude | float | m | Altitude. | |
| expected_travel_distance | float | m | Distance the aircraft expects to travel during the deepstall. | |
| cross_track_error | float | m | Deepstall cross track error (only valid when in DEEPSTALL_STAGE_LAND). | |
| stage | uint8_t | DEEPSTALL_STAGE | Deepstall stage. |
GIMBAL_REPORT ( #200 )
[Message] 3 axis gimbal measurements.
| Field Name | Type | Units | Description |
|---|---|---|---|
| target_system | uint8_t | System ID. | |
| target_component | uint8_t | Component ID. | |
| delta_time | float | s | Time since last update. |
| delta_angle_x | float | rad | Delta angle X. |
| delta_angle_y | float | rad | Delta angle Y. |
| delta_angle_z | float | rad | Delta angle X. |
| delta_velocity_x | float | m/s | Delta velocity X. |
| delta_velocity_y | float | m/s | Delta velocity Y. |
| delta_velocity_z | float | m/s | Delta velocity Z. |
| joint_roll | float | rad | Joint ROLL. |
| joint_el | float | rad | Joint EL. |
| joint_az | float | rad | Joint AZ. |
GIMBAL_CONTROL ( #201 )
[Message] Control message for rate gimbal.
| Field Name | Type | Units | Description |
|---|---|---|---|
| target_system | uint8_t | System ID. | |
| target_component | uint8_t | Component ID. | |
| demanded_rate_x | float | rad/s | Demanded angular rate X. |
| demanded_rate_y | float | rad/s | Demanded angular rate Y. |
| demanded_rate_z | float | rad/s | Demanded angular rate Z. |
GIMBAL_TORQUE_CMD_REPORT ( #214 )
[Message] 100 Hz gimbal torque command telemetry.
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID. |
| target_component | uint8_t | Component ID. |
| rl_torque_cmd | int16_t | Roll Torque Command. |
| el_torque_cmd | int16_t | Elevation Torque Command. |
| az_torque_cmd | int16_t | Azimuth Torque Command. |
GOPRO_HEARTBEAT ( #215 )
[Message] Heartbeat from a HeroBus attached GoPro.
| Field Name | Type | Values | Description |
|---|---|---|---|
| status | uint8_t | GOPRO_HEARTBEAT_STATUS | Status. |
| capture_mode | uint8_t | GOPRO_CAPTURE_MODE | Current capture mode. |
| flags | uint8_t | GOPRO_HEARTBEAT_FLAGS | Additional status bits. |
GOPRO_GET_REQUEST ( #216 )
[Message] Request a GOPRO_COMMAND response from the GoPro.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID. | |
| target_component | uint8_t | Component ID. | |
| cmd_id | uint8_t | GOPRO_COMMAND | Command ID. |
GOPRO_GET_RESPONSE ( #217 )
[Message] Response from a GOPRO_COMMAND get request.
| Field Name | Type | Values | Description |
|---|---|---|---|
| cmd_id | uint8_t | GOPRO_COMMAND | Command ID. |
| status | uint8_t | GOPRO_REQUEST_STATUS | Status. |
| value | uint8_t[4] | Value. |
GOPRO_SET_REQUEST ( #218 )
[Message] Request to set a GOPRO_COMMAND with a desired.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID. | |
| target_component | uint8_t | Component ID. | |
| cmd_id | uint8_t | GOPRO_COMMAND | Command ID. |
| value | uint8_t[4] | Value. |
GOPRO_SET_RESPONSE ( #219 )
[Message] Response from a GOPRO_COMMAND set request.
| Field Name | Type | Values | Description |
|---|---|---|---|
| cmd_id | uint8_t | GOPRO_COMMAND | Command ID. |
| status | uint8_t | GOPRO_REQUEST_STATUS | Status. |
RPM ( #226 )
[Message] RPM sensor output.
| Field Name | Type | Description |
|---|---|---|
| rpm1 | float | RPM Sensor1. |
| rpm2 | float | RPM Sensor2. |
DEVICE_OP_READ ( #11000 )
[Message] (MAVLink 2) Read registers for a device.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID. | |
| target_component | uint8_t | Component ID. | |
| request_id | uint32_t | Request ID — copied to reply. | |
| bustype | uint8_t | DEVICE_OP_BUSTYPE | The bus type. |
| bus | uint8_t | Bus number. | |
| address | uint8_t | Bus address. | |
| busname | char[40] | Name of device on bus (for SPI). | |
| regstart | uint8_t | First register to read. | |
| count | uint8_t | Count of registers to read. | |
| bank ** | uint8_t | Bank number. |
DEVICE_OP_READ_REPLY ( #11001 )
[Message] (MAVLink 2) Read registers reply.
| Field Name | Type | Description |
|---|---|---|
| request_id | uint32_t | Request ID — copied from request. |
| result | uint8_t | 0 for success, anything else is failure code. |
| regstart | uint8_t | Starting register. |
| count | uint8_t | Count of bytes read. |
| data | uint8_t[128] | Reply data. |
| bank ** | uint8_t | Bank number. |
DEVICE_OP_WRITE ( #11002 )
[Message] (MAVLink 2) Write registers for a device.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID. | |
| target_component | uint8_t | Component ID. | |
| request_id | uint32_t | Request ID — copied to reply. | |
| bustype | uint8_t | DEVICE_OP_BUSTYPE | The bus type. |
| bus | uint8_t | Bus number. | |
| address | uint8_t | Bus address. | |
| busname | char[40] | Name of device on bus (for SPI). | |
| regstart | uint8_t | First register to write. | |
| count | uint8_t | Count of registers to write. | |
| data | uint8_t[128] | Write data. | |
| bank ** | uint8_t | Bank number. |
DEVICE_OP_WRITE_REPLY ( #11003 )
[Message] (MAVLink 2) Write registers reply.
| Field Name | Type | Description |
|---|---|---|
| request_id | uint32_t | Request ID — copied from request. |
| result | uint8_t | 0 for success, anything else is failure code. |
ADAP_TUNING ( #11010 )
[Message] (MAVLink 2) Adaptive Controller tuning information.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| axis | uint8_t | PID_TUNING_AXIS | Axis. | |
| desired | float | deg/s | Desired rate. | |
| achieved | float | deg/s | Achieved rate. | |
| error | float | Error between model and vehicle. | ||
| theta | float | Theta estimated state predictor. | ||
| omega | float | Omega estimated state predictor. | ||
| sigma | float | Sigma estimated state predictor. | ||
| theta_dot | float | Theta derivative. | ||
| omega_dot | float | Omega derivative. | ||
| sigma_dot | float | Sigma derivative. | ||
| f | float | Projection operator value. | ||
| f_dot | float | Projection operator derivative. | ||
| u | float | u adaptive controlled output command. |
VISION_POSITION_DELTA ( #11011 )
[Message] (MAVLink 2) Camera vision based attitude and position deltas.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (synced to UNIX time or since system boot). |
| time_delta_usec | uint64_t | us | Time since the last reported camera frame. |
| angle_delta | float[3] | rad | Defines a rotation vector [roll, pitch, yaw] to the current MAV_FRAME_BODY_FRD from the previous MAV_FRAME_BODY_FRD. |
| position_delta | float[3] | m | Change in position to the current MAV_FRAME_BODY_FRD from the previous FRAME_BODY_FRD rotated to the current MAV_FRAME_BODY_FRD. |
| confidence | float | % | Normalised confidence value from 0 to 100. |
AOA_SSA ( #11020 )
[Message] (MAVLink 2) Angle of Attack and Side Slip Angle.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (since boot or Unix epoch). |
| AOA | float | deg | Angle of Attack. |
| SSA | float | deg | Side Slip Angle. |
ESC_TELEMETRY_1_TO_4 ( #11030 )
[Message] (MAVLink 2) ESC Telemetry Data for ESCs 1 to 4, matching data sent by BLHeli ESCs.
| Field Name | Type | Units | Description |
|---|---|---|---|
| temperature | uint8_t[4] | degC | Temperature. |
| voltage | uint16_t[4] | cV | Voltage. |
| current | uint16_t[4] | cA | Current. |
| totalcurrent | uint16_t[4] | mAh | Total current. |
| rpm | uint16_t[4] | rpm | RPM (eRPM). |
| count | uint16_t[4] | count of telemetry packets received (wraps at 65535). |
ESC_TELEMETRY_5_TO_8 ( #11031 )
[Message] (MAVLink 2) ESC Telemetry Data for ESCs 5 to 8, matching data sent by BLHeli ESCs.
| Field Name | Type | Units | Description |
|---|---|---|---|
| temperature | uint8_t[4] | degC | Temperature. |
| voltage | uint16_t[4] | cV | Voltage. |
| current | uint16_t[4] | cA | Current. |
| totalcurrent | uint16_t[4] | mAh | Total current. |
| rpm | uint16_t[4] | rpm | RPM (eRPM). |
| count | uint16_t[4] | count of telemetry packets received (wraps at 65535). |
ESC_TELEMETRY_9_TO_12 ( #11032 )
[Message] (MAVLink 2) ESC Telemetry Data for ESCs 9 to 12, matching data sent by BLHeli ESCs.
| Field Name | Type | Units | Description |
|---|---|---|---|
| temperature | uint8_t[4] | degC | Temperature. |
| voltage | uint16_t[4] | cV | Voltage. |
| current | uint16_t[4] | cA | Current. |
| totalcurrent | uint16_t[4] | mAh | Total current. |
| rpm | uint16_t[4] | rpm | RPM (eRPM). |
| count | uint16_t[4] | count of telemetry packets received (wraps at 65535). |
OSD_PARAM_CONFIG ( #11033 )
[Message] (MAVLink 2) Configure an OSD parameter slot.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID. | |
| target_component | uint8_t | Component ID. | |
| request_id | uint32_t | Request ID — copied to reply. | |
| osd_screen | uint8_t | OSD parameter screen index. | |
| osd_index | uint8_t | OSD parameter display index. | |
| param_id | char[16] | Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars — applications have to provide 16+1 bytes storage if the ID is stored as string | |
| config_type | uint8_t | OSD_PARAM_CONFIG_TYPE | Config type. |
| min_value | float | OSD parameter minimum value. | |
| max_value | float | OSD parameter maximum value. | |
| increment | float | OSD parameter increment. |
OSD_PARAM_CONFIG_REPLY ( #11034 )
[Message] (MAVLink 2) Configure OSD parameter reply.
| Field Name | Type | Values | Description |
|---|---|---|---|
| request_id | uint32_t | Request ID — copied from request. | |
| result | uint8_t | OSD_PARAM_CONFIG_ERROR | Config error type. |
OSD_PARAM_SHOW_CONFIG ( #11035 )
[Message] (MAVLink 2) Read a configured an OSD parameter slot.
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID. |
| target_component | uint8_t | Component ID. |
| request_id | uint32_t | Request ID — copied to reply. |
| osd_screen | uint8_t | OSD parameter screen index. |
| osd_index | uint8_t | OSD parameter display index. |
OSD_PARAM_SHOW_CONFIG_REPLY ( #11036 )
[Message] (MAVLink 2) Read configured OSD parameter reply.
| Field Name | Type | Values | Description |
|---|---|---|---|
| request_id | uint32_t | Request ID — copied from request. | |
| result | uint8_t | OSD_PARAM_CONFIG_ERROR | Config error type. |
| param_id | char[16] | Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars — applications have to provide 16+1 bytes storage if the ID is stored as string | |
| config_type | uint8_t | OSD_PARAM_CONFIG_TYPE | Config type. |
| min_value | float | OSD parameter minimum value. | |
| max_value | float | OSD parameter maximum value. | |
| increment | float | OSD parameter increment. |
OBSTACLE_DISTANCE_3D ( #11037 )
WORK IN PROGRESS: Do not use in stable production environments (it may change).
[Message] (MAVLink 2) Obstacle located as a 3D vector.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). | |
| sensor_type | uint8_t | MAV_DISTANCE_SENSOR | Class id of the distance sensor type. | |
| frame | uint8_t | MAV_FRAME | Coordinate frame of reference. | |
| obstacle_id | uint16_t | Unique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined. | ||
| x | float | m | X position of the obstacle. | |
| y | float | m | Y position of the obstacle. | |
| z | float | m | Z position of the obstacle. | |
| min_distance | float | m | Minimum distance the sensor can measure. | |
| max_distance | float | m | Maximum distance the sensor can measure. |
WATER_DEPTH ( #11038 )
[Message] (MAVLink 2) Water depth
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot) |
| id | uint8_t | Onboard ID of the sensor | |
| healthy | uint8_t | Sensor data healthy (0=unhealthy, 1=healthy) | |
| lat | int32_t | degE7 | Latitude |
| lng | int32_t | degE7 | Longitude |
| alt | float | m | Altitude (MSL) of vehicle |
| roll | float | rad | Roll angle |
| pitch | float | rad | Pitch angle |
| yaw | float | rad | Yaw angle |
| distance | float | m | Distance (uncorrected) |
| temperature | float | degC | Water temperature |
MCU_STATUS ( #11039 )
[Message] (MAVLink 2) The MCU status, giving MCU temperature and voltage. The min and max voltages are to allow for detecting power supply instability.
| Field Name | Type | Units | Description |
|---|---|---|---|
| id | uint8_t | MCU instance | |
| MCU_temperature | int16_t | cdegC | MCU Internal temperature |
| MCU_voltage | uint16_t | mV | MCU voltage |
| MCU_voltage_min | uint16_t | mV | MCU voltage minimum |
| MCU_voltage_max | uint16_t | mV | MCU voltage maximum |
That might have been the case for @Jee88 , in one of your logs, I see the z position quickly went to the ground after a spike in the accel’s data is observed:
May I suggest:
- increasing the camera’s distance to the ground (if you need to have it facing downward)
- add damping if possible. just test take off and landing to verify whether the vibration is an issue or not.
- make sure the camera’s FOV is not blocked (or as little as possible) by any part of the quadcopter.
- test at somewhere with abundant visual features on the ground if you can.
Thanks to @thien94 and everyone.
VISP.PZ data is rising after IMU.Accz data is dropped as shown in the analyzed log. The drone also climbed and found the velocity and position data displayed in red on the mission planner EK.
In my previous row, I checked the same phenomenon as the log when’EKF variance’ and pos horiz / pos vert variance error occurred.
I updated my shared drive.
https://drive.google.com/drive/folders/1HwtgpBd3ZHehethRmmJaOSWYMNERsviW?usp=sharing
I uploaded 2 log and tlog and video at that time.
Sorry it’s not a YouTube video.
Guided and RTL tests were also conducted in this test. Where the pattern is clear, although the reset_counter increases, the ekf data stabilizes. In the RTL test, an error occurred as soon as the RTL command was input, and the drone was vertically raised. (RTL_ALTITUDE is currently set at altitude. The loiter speed, ascent and descent speed were also adjusted.)
I will test again by applying a vibration tape or vibration reduction mount, but do you have any tips to improve the IMU accel.z acceleration range limiting performance by modifying the EKF parameters?
Thank you very much.
but do you have any tips to improve the IMU accel.z acceleration range limiting performance by modifying the EKF parameters?
If you are referring to the T265: it’s a combination of hardware / software limitation from the T265’s internal IMU / librealsense configuration. As far as I know, the acceleration range is not configurable. On that part AP is not related.
If you are referring to the FCU’s internal IMU, you can check out this wiki: https://ardupilot.org/dev/docs/extended-kalman-filter.html
@peterbarker hi i am using SITL to simulate fake gps using the GPS_INPUT Message . i have an old version of the GPS_INPUT Message and there is no field to set the yaw parameter . i would like to know if by extending the message definition on the /ardupilot /modules/mavlink/message_defeinitions/v1.0/common.xml would be enough to feed the yaw to the drone ? thx im forward
Ian McElhenny
@mcelhennyi
@rmackay9 Thanks for the response, I had originally set the EK2_GPS_TYPE to 3 (no GPS), but that didnt seem to stop the warning….then when I did disable to GPS checks it seemed the SITL didnt know how to yaw anymore, but if I enabled back GPS it would yaw. (I would send a setpoint with a yaw delta relative to body to test)
Have you (or anyone) been able to run the sitl without GPS enabled lately? I am on version ArduCopter V4.1.0-dev (77e52362)
Its almost like disabling GPS makes it also disable the compass, so it doesnt know what heading it has? I would think with just gyro it should be able to try and yaw though…
@mcelhennyi yes i run the SITL withoout GPS but with the arducopter version 3.6.8
@rmackay9 A few weeks ago I was testing the T265 on my rover. But after the jump errors, I knew I had to return to the POZYX system. With EK3, it work very well. Question to all… Is there a way to state the position of the POZYX tag relative to the origin like VISO_POS_X?
Ian McElhenny
@mcelhennyi
@joekrom
Maybe this is a 4.x+ issue? I am going to open an issue in the repo I guess…
Oddly, I just tried again with turning off the GPS and GPS checks again, and it seems to work now…I can yaw just fine now.
I had initially setup a test case where I enabled MAV gps and was converting local position ned to a gps point, and was injecting it back in to the AP using the HIL_GPS message…and that also worked…but now the proper way works…odd
@mcelhennyi i am struggling to update the sitl copter version, can you ccheck if the field yaw is available in your GPS_INPUT message definition ?
Ian McElhenny
@mcelhennyi
@joekrom I actually am not using that message, rather the HIL_GPS message
@mcelhennyi which positioning system are you using ?
Ian McElhenny
@mcelhennyi
currently, in the sitl, just the flow sensor. In real life, T265.
ok cool that is nice , i am using pozyx
that means you use the flow sensor to send data to the drone with a gps input ?
Ian McElhenny
@mcelhennyi
no, the arducopter can ingest the flow sensor. I was just trying to get around the gps issue, so I was (hack) injecting the position the drone was outputing back in as a gps input to allow me to do the actual work I am trying to do without gps or yaw issues….but now it seems I dont actually need to do that because the correct way — flow and rangefinder for alt without gps — is actualy working.
@RoboBil Which process are you using to feed pozyx data to the drone ?
@joekrom I’m not sure about the process, but my POZYX/Arduino bundle is mounted .33 meters above and 0.1 meter ahead of the rover C.G. I have the @rmackay9 loiter sketch feeding the Pixhawk through Telem2. It all works really well especially after switching to EK3. But during pivot turns the trace makes a small arc. I’m hoping to reduce that and xtracking by inputting the position of the POZYX antenna.
@RoboBil, thanks for confirming that the pozyx system is still working! You are using Rover-4.1.0-dev? I’m afraid Beacon doesn’t support setting the position of the sensor so I’ve created an issue: ArduPilot/ardupilot#14792. I can’t promise when I (or someone else) will get to it though. It’s not super difficult because we’ve done it for many other sensors.
@rmackay9 Yes I have the latest dev installed. Thanks for creating the 14792. Unless I missed it, one thing you might mention in your POZYX instructions is that your cartesian Y is down rather than up. Your layout had me baffled for months until my programmer daughter told me about the downward Y axis. All is good now in robot-land.
@RoboBil, ok thanks. Is it «Y» that’s downwards or is it «Z»? I’d expect it to be Z actually.. It’s been a while though and it’s possible we made a mistake in the driver or the script
@rmackay9 Could be… and speaking of axis…Another thing I discovered to keep the axis «correct» is the tag should also be mounted vertically on your bot. This per where to place your anchors/tag page
I wonder if we should move this discussion over to a new «VisionProjects» channel in Discord (www.ardupilot.org/discord) . I’m not personally monitoring Gitter anymore except for this particular channel. Do @patrickpoirier51 and others have any opinion on this?
patrickpoirier51
@patrickpoirier51
As they say…we’ve got to go with the flow
Sorry guys… I just didn’t know where to post my question(s). I’m more than happy to switch to wherever you’all wish.
patrickpoirier51
@patrickpoirier51
@rmackay9 Have you created the vision room on discord ?
patrickpoirier51
@patrickpoirier51
Ok created
Bye Bye Gitter, everyone’s welcome to discord
lightpathproject
@lightpathproject
Is there a link?
Vinicius Juvinski
@juvinski
It seems the discord invite is invalid now.
Ian McElhenny
@mcelhennyi
++, new discord link?
Vinicius Juvinski
@juvinski
gauravshukla914
@gauravshukla914
Hi. Even this new link is invalid. Any other links? Can I still post my questions here?
Luis Vale Gonçalves
@lvale
Hi there, more and more discussion is moving to discord so you are all invited to join us over there! https://ardupilot.org/discord
alikarimiyazdi
@alikarimiyazdi
Hi. I have a pixy1, pixymon v1.0.2 software and IR Lock firmware v1.0.3. I tested my pixy I2C and SPI interfaces with arduino and it’s ok. But when I connect it to my pixhawk2 cube and set parameters (In mission Planner : “PLND_ENABLED = 1”,“PLND_TYPE = 2” In Pixymon: “outport =1”,“Restore default parameter values”) Mission planner says “Bad Vision Position”. I tested my pixy with different copter versions like Copter v4.0.3 Hexa frame and Copter v3.6.11 Quadcopter frame. Also I changed PLND_BUS parameter to 1 and -1 in both states. I tested it with three different pixhawk2 cube but in all cases i had “Bad Vision Position” on HUD. :frowning:
What Can I do else? any idea?
Hello.
Is there any way to use the loiter with t256 when entering the indoor shading area after using gps from outside?
Then, I think, next step will be to switch on the base of values that indicate the data from GPS has degraded, from GPS: GPS.HDop, GPA.HAcc, GPA.Vacc and / or from EKF: XKF4.SV, XKF4.SP …
But this is only free thinking i am not an expert.
Fahad1994-coder
@Fahad1994-coder
Hello everyone can someone guide me on how to build Navio2 computer vision system that detect object to deliver payload. pls give guideline in hardware and coding if its possible!
has anyone get numba working on rpi4?