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Sync with upstream master | Thu Sep 28 17:01:46 UTC 2023 #232

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merged 3 commits into from
Oct 12, 2023
Merged

Sync with upstream master | Thu Sep 28 17:01:46 UTC 2023 #232

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c313a2f
common: Add camera instance field to MAV_CMD_IMAGE_START/STOP_CAPTUR…
khanasif786 Sep 22, 2023
e8d796a
SPEED_TYPE enum for MAV_CMD_DO_CHANGE_SPEED (#2039)
hamishwillee Sep 27, 2023
b295e70
Update ardupilotmega.xml - delete SPEED_TYPE (#2042)
hamishwillee Sep 27, 2023
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4 changes: 0 additions & 4 deletions message_definitions/v1.0/ardupilotmega.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,10 +23,6 @@
<entry value="0" name="HEADING_TYPE_COURSE_OVER_GROUND"/>
<entry value="1" name="HEADING_TYPE_HEADING"/>
</enum>
<enum name="SPEED_TYPE">
<entry value="0" name="SPEED_TYPE_AIRSPEED"/>
<entry value="1" name="SPEED_TYPE_GROUNDSPEED"/>
</enum>
<!-- ardupilot specific MAV_CMD_* commands -->
<enum name="MAV_CMD">
<!-- 200 to 214 used by common.xml -->
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53 changes: 47 additions & 6 deletions message_definitions/v1.0/common.xml
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Expand Up @@ -1399,8 +1399,8 @@
<param index="7">Empty</param>
</entry>
<entry value="178" name="MAV_CMD_DO_CHANGE_SPEED" hasLocation="false" isDestination="false">
<description>Change speed and/or throttle set points. The value persists until it is overridden or there is a mode change.</description>
<param index="1" label="Speed Type" minValue="0" maxValue="3" increment="1">Speed type (0=Airspeed, 1=Ground Speed, 2=Climb Speed, 3=Descent Speed)</param>
<description>Change speed and/or throttle set points. The value persists until it is overridden or there is a mode change</description>
<param index="1" label="Speed Type" enum="SPEED_TYPE">Speed type of value set in param2 (such as airspeed, ground speed, and so on)</param>
<param index="2" label="Speed" units="m/s" minValue="-2">Speed (-1 indicates no change, -2 indicates return to default vehicle speed)</param>
<param index="3" label="Throttle" units="%" minValue="-2">Throttle (-1 indicates no change, -2 indicates return to default vehicle throttle value)</param>
<param index="4" reserved="true" default="0"/>
Expand Down Expand Up @@ -2117,8 +2117,21 @@
<param index="7" label="Gimbal device ID">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).</param>
</entry>
<entry value="2000" name="MAV_CMD_IMAGE_START_CAPTURE" hasLocation="false" isDestination="false">
<description>Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NaN for reserved values.</description>
<param index="1">Reserved (Set to 0)</param>
<description>Start image capture sequence. CAMERA_IMAGE_CAPTURED must be emitted after each capture.

Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID.
It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID).
It is also needed to specify the target camera in missions.

When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero).
If the param1 is 0 the autopilot should do both.

When sent in a command the target MAVLink address is set using target_component.
If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist).
If addressed to a MAVLink camera, param 1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED.
If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.
</description>
<param index="1" label="id" minValue="0" maxValue="255" increment="1">Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras that don't have a distinct component id (such as autopilot-attached cameras). 0: all cameras. This is used to specifically target autopilot-connected cameras or individual sensors in a multi-sensor MAVLink camera. It is also used to target specific cameras when the MAV_CMD is used in a mission</param>
<param index="2" label="Interval" units="s" minValue="0">Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).</param>
<param index="3" label="Total Images" minValue="0" increment="1">Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.</param>
<param index="4" label="Sequence Number" minValue="1" increment="1">Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1), otherwise set to 0. Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted.</param>
Expand All @@ -2127,8 +2140,21 @@
<param index="7" reserved="true" default="NaN"/>
</entry>
<entry value="2001" name="MAV_CMD_IMAGE_STOP_CAPTURE" hasLocation="false" isDestination="false">
<description>Stop image capture sequence Use NaN for reserved values.</description>
<param index="1">Reserved (Set to 0)</param>
<description>Stop image capture sequence.

Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID.
It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID).
It is also needed to specify the target camera in missions.

When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero).
If the param1 is 0 the autopilot should do both.

When sent in a command the target MAVLink address is set using target_component.
If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist).
If addressed to a MAVLink camera, param1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED.
If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.
</description>
<param index="1" label="id" minValue="0" maxValue="255" increment="1">Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras that don't have a distinct component id (such as autopilot-attached cameras). 0: all cameras. This is used to specifically target autopilot-connected cameras or individual sensors in a multi-sensor MAVLink camera. It is also used to target specific cameras when the MAV_CMD is used in a mission</param>
<param index="2" reserved="true" default="NaN"/>
<param index="3" reserved="true" default="NaN"/>
<param index="4" reserved="true" default="NaN"/>
Expand Down Expand Up @@ -3433,6 +3459,21 @@
<description>The aircraft should immediately transition into guided. This should not be set for follow me applications</description>
</entry>
</enum>
<enum name="SPEED_TYPE">
<description>Speed setpoint types used in MAV_CMD_DO_CHANGE_SPEED</description>
<entry value="0" name="SPEED_TYPE_AIRSPEED">
<description>Airspeed</description>
</entry>
<entry value="1" name="SPEED_TYPE_GROUNDSPEED">
<description>Groundspeed</description>
</entry>
<entry value="2" name="SPEED_TYPE_CLIMB_SPEED">
<description>Climb speed</description>
</entry>
<entry value="3" name="SPEED_TYPE_DESCENT_SPEED">
<description>Descent speed</description>
</entry>
</enum>
<!-- ESTIMATOR_STATUS_FLAGS - these values should be bit-and with the messages flags field to know if flag has been set -->
<enum name="ESTIMATOR_STATUS_FLAGS" bitmask="true">
<description>Flags in ESTIMATOR_STATUS message</description>
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