Merge remote-tracking branch 'upstream/master'

doc/README.md

@@ -7,10 +7,11 @@ Files:
 - **mavlink.php**: Generates online documentation from MAVLink XML - http://mavlink.org/messages/common
   - **mavlink_to_html_table.xsl**: XSL transform used by **mavlink.php**
   - **mavlink.css**: CSS used by online documentation
-- **mavlink_gitbook.py**: Generates documentation from MAVLink XML that can be imported into gitbook
-  - **mavlink_to_html_table_gitbook.xsl**: XSL transform used by **mavlink_gitbook.py**
+- **mavlink_xml_to_markdown.py**: Converts MAVLink XML to markdown
+- **mavlink_gitbook.py** (Deprecated): Generates documentation from MAVLink XML that can be imported into gitbook - replaced by mavlink_xml_to_markdown.py
+  - **mavlink_to_html_table_gitbook.xsl** (Deprecated): XSL transform used by **mavlink_gitbook.py**
 
 
 For more information, please visit: https://mavlink.io/en/
 
-(c) 2009-2010 Lorenz Meier / PIXHAWK Team
+(c) 2009-2023 Lorenz Meier / PIXHAWK Team

doc/mavlink_xml_to_markdown.py

@@ -417,6 +417,7 @@ def __init__(self, soup, parent, extension):
         self.default = None
         self.minValue = None
         self.maxValue = None
+        self.multiplier = None
         self.extension = extension
         for attr, value in soup.attrs.items():
             # We do it this way to catch all of them. New additions will throw debug
@@ -442,6 +443,8 @@ def __init__(self, soup, parent, extension):
                 self.minValue = value
             elif attr == 'maxValue':
                 self.maxValue = value
+            elif attr == 'multiplier':
+                self.multiplier = value
             else:
                 print(
                     f"Debug: MAVField: Unexpected attribute: {attr}, Value: {value}")
@@ -481,12 +484,13 @@ def __init__(self, soup, parent, extension):
             parent.fieldnames.add('default')
         if self.invalid:
             parent.fieldnames.add('invalid')
-
+        if self.multiplier:
+            parent.fieldnames.add('multiplier')
         # self.debug()
 
     def debug(self):
         print(
-            f"Debug_Field- name ({self.name}), type ({self.type}), desc({self.description}), units({self.units}), display({self.display}), instance({self.instance})")
+            f"Debug_Field- name ({self.name}), type ({self.type}), desc({self.description}), units({self.units}), display({self.display}), instance({self.instance}), multiplier({self.multiplier})")
         # TODO - display, instance, are not output.
 
 
@@ -579,9 +583,13 @@ def getMarkdown(self, currentDialect):
         tableHeadings.append('Type')
         valueHeading = False
         unitsHeading = False
+        multiplierHeading = False
         if any(field in self.fieldnames for field in ('units',)):
             unitsHeading = True
             tableHeadings.append('Units')
+        if any(field in self.fieldnames for field in ('multiplier',)):
+            multiplierHeading = True
+            tableHeadings.append('Multiplier')
         if any(field in self.fieldnames for field in ('enum', 'invalid, maxValue, minValue, default')):
             valueHeading = True
             tableHeadings.append('Values')
@@ -595,7 +603,8 @@ def getMarkdown(self, currentDialect):
             row.append(f"`{field.type}`")
             if unitsHeading:
                 row.append(f"{field.units if field.units else ''}")
-
+            if multiplierHeading:
+                row.append(f"{field.multiplier if field.multiplier else ''}")
             if valueHeading:
                 # Values: #invalid, default, minValue, maxValue.
                 values = []
@@ -767,6 +776,7 @@ def __init__(self, soup, parent):
         self.description = None
         self.reserved = None
         self.default = None
+        self.multiplier = None
 
         for attr, value in soup.attrs.items():
             # We do it this way to catch all of them. New additions will throw debug
@@ -788,6 +798,8 @@ def __init__(self, soup, parent):
                 self.reserved = True  # TODO is it ever reserved by default, and if so make happen
             elif attr == 'default':
                 self.default = value  # TODO is it ever default by default, and if so make happen?
+            elif attr == 'multiplier':
+                self.multiplier = value
             else:
                 print(
                     f"Debug: MAVCommandParam: Unexpected attribute: {attr}, Value: {value}")
@@ -813,7 +825,8 @@ def __init__(self, soup, parent):
             parent.param_fieldnames.add('increment')
         if self.enum:
             parent.param_fieldnames.add('enum')
-
+        if self.multiplier:
+            parent.param_fieldnames.add('multiplier')
 
 class MAVCommand(object):
     def __init__(self, soup, basename):
@@ -876,12 +889,16 @@ def getMarkdown(self, currentDialect):
         tableHeadings.append('Description')
         valueHeading = False
         unitsHeading = False
+        multiplierHeading = False
         if any(field in self.param_fieldnames for field in ('enum', 'minValue', 'maxValue', 'increment')):
             valueHeading = True
             tableHeadings.append('Values')
         if 'units' in self.param_fieldnames:
             unitsHeading = True
             tableHeadings.append('Units')
+        if 'multiplier' in self.param_fieldnames:
+            multiplierHeading = True
+            tableHeadings.append('Multiplier')
         tableRows = []
 
         for param in self.params:
@@ -910,6 +927,12 @@ def getMarkdown(self, currentDialect):
                     unitsString = param.units
                 row.append(unitsString)
 
+            if multiplierHeading:
+                multiplierString = " "
+                if param.multiplier:
+                    multiplierString = param.multiplier
+                row.append(multiplierString)
+
             tableRows.append(row)
 
         # print("debugtablerows")

message_definitions/v1.0/development.xml

@@ -376,6 +376,18 @@
         <param index="6">Empty</param>
         <param index="7">Empty</param>
       </entry>
+      <entry value="43004" name="MAV_CMD_EXTERNAL_WIND_ESTIMATE" hasLocation="false" isDestination="false">
+        <description>Set an external estimate of wind direction and speed.
+          This might be used to provide an initial wind estimate to the estimator (EKF) in the case where the vehicle is wind dead-reckoning, extending the time when operating without GPS before before position drift builds to an unsafe level. For this use case the command might reasonably be sent every few minutes when operating at altitude, and the value is cleared if the estimator resets itself.
+        </description>
+        <param index="1" label="Wind speed" units="m/s" minValue="0">Horizontal wind speed.</param>
+        <param index="2" label="Wind speed accuracy" units="m/s">Estimated 1 sigma accuracy of wind speed. Set to NaN if unknown.</param>
+        <param index="3" label="Direction" units="deg" minValue="0" maxValue="360">Azimuth (relative to true north) from where the wind is blowing.</param>
+        <param index="4" label="Direction accuracy" units="deg">Estimated 1 sigma accuracy of wind direction. Set to NaN if unknown.</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
     </enum>
     <enum name="TARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGS" bitmask="true">
       <description>These flags indicate the sensor reporting capabilities for TARGET_ABSOLUTE.</description>