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mav_v2.js.old
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mav_v2.js.old
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/*
MAVLink protocol implementation for node.js (auto-generated by mavgen_javascript.py)
Generated from: ardupilotmega.xml,common.xml,uAvionix.xml,icarous.xml,minimal.xml
Note: this file has been auto-generated. DO NOT EDIT
*/
jspack = require("jspack").jspack;
_ = require("underscore");
events = require("events"); // for .emit(..), MAVLink20Processor inherits from events.EventEmitter
util = require("util");
var Long = require('long');
// Add a convenience method to Buffer
Buffer.prototype.toByteArray = function () {
return Array.prototype.slice.call(this, 0)
}
mavlink20 = function(){};
// Implement the CRC-16/MCRF4XX function (present in the Python version through the mavutil.py package)
mavlink20.x25Crc = function(buffer, crcIN) {
var bytes = buffer;
var crcOUT = crcIN || 0xffff;
_.each(bytes, function(e) {
var tmp = e ^ (crcOUT & 0xff);
tmp = (tmp ^ (tmp << 4)) & 0xff;
crcOUT = (crcOUT >> 8) ^ (tmp << 8) ^ (tmp << 3) ^ (tmp >> 4);
crcOUT = crcOUT & 0xffff;
});
return crcOUT;
}
mavlink20.WIRE_PROTOCOL_VERSION = "2.0";
mavlink20.PROTOCOL_MARKER_V1 = 0xFE
mavlink20.PROTOCOL_MARKER_V2 = 0xFD
mavlink20.HEADER_LEN_V1 = 6
mavlink20.HEADER_LEN_V2 = 10
mavlink20.HEADER_LEN = 10;
mavlink20.MAVLINK_TYPE_CHAR = 0
mavlink20.MAVLINK_TYPE_UINT8_T = 1
mavlink20.MAVLINK_TYPE_INT8_T = 2
mavlink20.MAVLINK_TYPE_UINT16_T = 3
mavlink20.MAVLINK_TYPE_INT16_T = 4
mavlink20.MAVLINK_TYPE_UINT32_T = 5
mavlink20.MAVLINK_TYPE_INT32_T = 6
mavlink20.MAVLINK_TYPE_UINT64_T = 7
mavlink20.MAVLINK_TYPE_INT64_T = 8
mavlink20.MAVLINK_TYPE_FLOAT = 9
mavlink20.MAVLINK_TYPE_DOUBLE = 10
mavlink20.MAVLINK_IFLAG_SIGNED = 0x01
mavlink20.MAVLINK_SIGNATURE_BLOCK_LEN = 13
// Mavlink headers incorporate sequence, source system (platform) and source component.
mavlink20.header = function(msgId, mlen, seq, srcSystem, srcComponent, incompat_flags=0, compat_flags=0,) {
this.mlen = ( typeof mlen === 'undefined' ) ? 0 : mlen;
this.seq = ( typeof seq === 'undefined' ) ? 0 : seq;
this.srcSystem = ( typeof srcSystem === 'undefined' ) ? 0 : srcSystem;
this.srcComponent = ( typeof srcComponent === 'undefined' ) ? 0 : srcComponent;
this.msgId = msgId
this.incompat_flags = incompat_flags
this.compat_flags = compat_flags
}
mavlink20.header.prototype.pack = function() {
return jspack.Pack('BBBBBBBHB', [253, this.mlen, this.incompat_flags, this.compat_flags, this.seq, this.srcSystem, this.srcComponent, ((this.msgId & 0xFF) << 8) | ((this.msgId >> 8) & 0xFF), this.msgId>>16]);
}
// Base class declaration: mavlink.message will be the parent class for each
// concrete implementation in mavlink.messages.
mavlink20.message = function() {};
// Convenience setter to facilitate turning the unpacked array of data into member properties
mavlink20.message.prototype.set = function(args,verbose) {
// inspect
_.each(this.fieldnames, function(e, i) {
var num = parseInt(i,10);
if (this.hasOwnProperty(e) && isNaN(num) ){ // asking for an attribure thats non-numeric is ok unless its already an attribute we have
if ( verbose >= 1) { console.log("WARNING, overwriting an existing property is DANGEROUS:"+e+" ==>"+i+"==>"+args[i]+" -> "+JSON.stringify(this)); }
}
}, this);
//console.log(this.fieldnames);
// then modify
_.each(this.fieldnames, function(e, i) {
this[e] = args[i];
}, this);
};
// trying to be the same-ish as the python function of the same name
mavlink20.message.prototype.sign_packet = function( mav) {
var crypto= require('crypto');
var h = crypto.createHash('sha256');
//mav.signing.timestamp is a 48bit number, or 6 bytes.
// due to js not being able to shift numbers more than 32, we'll use this instead..
// js stores all its numbers as a 64bit float with 53 bits of mantissa, so have room for 48 ok.
// positive shifts left, negative shifts right
function shift(number, shift) {
return number * Math.pow(2, shift);
}
var thigh = shift(mav.signing.timestamp,-32) // 2 bytes from the top, shifted right by 32 bits
var tlow = (mav.signing.timestamp & 0xfffffff ) // 4 bytes from the bottom
// I means unsigned 4bytes, H means unsigned 2 bytes
// first add the linkid(1 byte) and timestamp(6 bytes) that start the signature
this._msgbuf = this._msgbuf.concat(jspack.Pack('<BIH', [mav.signing.link_id, tlow, thigh ] ) );
h.update(mav.signing.secret_key); // secret is already a Buffer
h.update(new Buffer.from(this._msgbuf));
var hashDigest = h.digest();
sig = hashDigest.slice(0,6)
this._msgbuf = this._msgbuf.concat( ... sig );
mav.signing.timestamp += 1
}
// This pack function builds the header and produces a complete MAVLink message,
// including header and message CRC.
mavlink20.message.prototype.pack = function(mav, crc_extra, payload) {
this._payload = payload;
var plen = this._payload.length;
//in MAVLink2 we can strip trailing zeros off payloads. This allows for simple
// variable length arrays and smaller packets
while ((plen > 1) && ( (this._payload[plen-1] == 0) || (this._payload[plen-1] == null) ) ) {
plen = plen - 1;
}
this._payload = this._payload.slice(0, plen);
// signing is our first incompat flag.
var incompat_flags = 0;
if (mav.signing.sign_outgoing){
incompat_flags |= mavlink20.MAVLINK_IFLAG_SIGNED
}
// header
this._header = new mavlink20.header(this._id, this._payload.length, mav.seq, mav.srcSystem, mav.srcComponent, incompat_flags, 0,);
// payload
this._msgbuf = this._header.pack().concat(this._payload);
// crc - for now, assume always using crc_extra = True. TODO: check/fix this.
var crc = mavlink20.x25Crc(this._msgbuf.slice(1));
crc = mavlink20.x25Crc([crc_extra], crc);
this._msgbuf = this._msgbuf.concat(jspack.Pack('<H', [crc] ) );
// signing
this._signed = false
this._link_id = undefined
//console.log(mav.signing);
//optionally add signing
if (mav.signing.sign_outgoing){
this.sign_packet(mav)
}
return this._msgbuf;
}
// enums
// ACCELCAL_VEHICLE_POS
mavlink20.ACCELCAL_VEHICLE_POS_LEVEL = 1 //
mavlink20.ACCELCAL_VEHICLE_POS_LEFT = 2 //
mavlink20.ACCELCAL_VEHICLE_POS_RIGHT = 3 //
mavlink20.ACCELCAL_VEHICLE_POS_NOSEDOWN = 4 //
mavlink20.ACCELCAL_VEHICLE_POS_NOSEUP = 5 //
mavlink20.ACCELCAL_VEHICLE_POS_BACK = 6 //
mavlink20.ACCELCAL_VEHICLE_POS_SUCCESS = 16777215 //
mavlink20.ACCELCAL_VEHICLE_POS_FAILED = 16777216 //
mavlink20.ACCELCAL_VEHICLE_POS_ENUM_END = 16777217 //
// HEADING_TYPE
mavlink20.HEADING_TYPE_COURSE_OVER_GROUND = 0 //
mavlink20.HEADING_TYPE_HEADING = 1 //
mavlink20.HEADING_TYPE_ENUM_END = 2 //
// SPEED_TYPE
mavlink20.SPEED_TYPE_AIRSPEED = 0 //
mavlink20.SPEED_TYPE_GROUNDSPEED = 1 //
mavlink20.SPEED_TYPE_ENUM_END = 2 //
// MAV_CMD
mavlink20.MAV_CMD_NAV_WAYPOINT = 16 // Navigate to waypoint.
mavlink20.MAV_CMD_NAV_LOITER_UNLIM = 17 // Loiter around this waypoint an unlimited amount of time
mavlink20.MAV_CMD_NAV_LOITER_TURNS = 18 // Loiter around this waypoint for X turns
mavlink20.MAV_CMD_NAV_LOITER_TIME = 19 // Loiter at the specified latitude, longitude and altitude for a certain
// amount of time. Multicopter vehicles stop
// at the point (within a vehicle-specific
// acceptance radius). Forward-only moving
// vehicles (e.g. fixed-wing) circle the point
// with the specified radius/direction. If the
// Heading Required parameter (2) is non-zero
// forward moving aircraft will only leave the
// loiter circle once heading towards the next
// waypoint.
mavlink20.MAV_CMD_NAV_RETURN_TO_LAUNCH = 20 // Return to launch location
mavlink20.MAV_CMD_NAV_LAND = 21 // Land at location.
mavlink20.MAV_CMD_NAV_TAKEOFF = 22 // Takeoff from ground / hand. Vehicles that support multiple takeoff
// modes (e.g. VTOL quadplane) should take off
// using the currently configured mode.
mavlink20.MAV_CMD_NAV_LAND_LOCAL = 23 // Land at local position (local frame only)
mavlink20.MAV_CMD_NAV_TAKEOFF_LOCAL = 24 // Takeoff from local position (local frame only)
mavlink20.MAV_CMD_NAV_FOLLOW = 25 // Vehicle following, i.e. this waypoint represents the position of a
// moving vehicle
mavlink20.MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT = 30 // Continue on the current course and climb/descend to specified
// altitude. When the altitude is reached
// continue to the next command (i.e., don't
// proceed to the next command until the
// desired altitude is reached.
mavlink20.MAV_CMD_NAV_LOITER_TO_ALT = 31 // Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0,
// then loiter at the current position. Don't
// consider the navigation command complete
// (don't leave loiter) until the altitude has
// been reached. Additionally, if the Heading
// Required parameter is non-zero the aircraft
// will not leave the loiter until heading
// toward the next waypoint.
mavlink20.MAV_CMD_DO_FOLLOW = 32 // Begin following a target
mavlink20.MAV_CMD_DO_FOLLOW_REPOSITION = 33 // Reposition the MAV after a follow target command has been sent
mavlink20.MAV_CMD_DO_ORBIT = 34 // Start orbiting on the circumference of a circle defined by the
// parameters. Setting any value NaN results
// in using defaults.
mavlink20.MAV_CMD_NAV_ROI = 80 // Sets the region of interest (ROI) for a sensor set or the vehicle
// itself. This can then be used by the
// vehicle's control system to control the
// vehicle attitude and the attitude of
// various sensors such as cameras.
mavlink20.MAV_CMD_NAV_PATHPLANNING = 81 // Control autonomous path planning on the MAV.
mavlink20.MAV_CMD_NAV_SPLINE_WAYPOINT = 82 // Navigate to waypoint using a spline path.
mavlink20.MAV_CMD_NAV_ALTITUDE_WAIT = 83 // 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.
mavlink20.MAV_CMD_NAV_VTOL_TAKEOFF = 84 // Takeoff from ground using VTOL mode, and transition to forward flight
// with specified heading. The command should
// be ignored by vehicles that dont support
// both VTOL and fixed-wing flight
// (multicopters, boats,etc.).
mavlink20.MAV_CMD_NAV_VTOL_LAND = 85 // Land using VTOL mode
mavlink20.MAV_CMD_NAV_GUIDED_ENABLE = 92 // hand control over to an external controller
mavlink20.MAV_CMD_NAV_DELAY = 93 // Delay the next navigation command a number of seconds or until a
// specified time
mavlink20.MAV_CMD_NAV_PAYLOAD_PLACE = 94 // Descend and place payload. Vehicle moves to specified location,
// descends until it detects a hanging payload
// has reached the ground, and then releases
// the payload. If ground is not detected
// before the reaching the maximum descent
// value (param1), the command will complete
// without releasing the payload.
mavlink20.MAV_CMD_NAV_LAST = 95 // NOP - This command is only used to mark the upper limit of the
// NAV/ACTION commands in the enumeration
mavlink20.MAV_CMD_CONDITION_DELAY = 112 // Delay mission state machine.
mavlink20.MAV_CMD_CONDITION_CHANGE_ALT = 113 // Ascend/descend to target altitude at specified rate. Delay mission
// state machine until desired altitude
// reached.
mavlink20.MAV_CMD_CONDITION_DISTANCE = 114 // Delay mission state machine until within desired distance of next NAV
// point.
mavlink20.MAV_CMD_CONDITION_YAW = 115 // Reach a certain target angle.
mavlink20.MAV_CMD_CONDITION_LAST = 159 // NOP - This command is only used to mark the upper limit of the
// CONDITION commands in the enumeration
mavlink20.MAV_CMD_DO_SET_MODE = 176 // Set system mode.
mavlink20.MAV_CMD_DO_JUMP = 177 // Jump to the desired command in the mission list. Repeat this action
// only the specified number of times
mavlink20.MAV_CMD_DO_CHANGE_SPEED = 178 // Change speed and/or throttle set points.
mavlink20.MAV_CMD_DO_SET_HOME = 179 // Changes the home location either to the current location or a
// specified location.
mavlink20.MAV_CMD_DO_SET_PARAMETER = 180 // Set a system parameter. Caution! Use of this command requires
// knowledge of the numeric enumeration value
// of the parameter.
mavlink20.MAV_CMD_DO_SET_RELAY = 181 // Set a relay to a condition.
mavlink20.MAV_CMD_DO_REPEAT_RELAY = 182 // Cycle a relay on and off for a desired number of cycles with a desired
// period.
mavlink20.MAV_CMD_DO_SET_SERVO = 183 // Set a servo to a desired PWM value.
mavlink20.MAV_CMD_DO_REPEAT_SERVO = 184 // Cycle a between its nominal setting and a desired PWM for a desired
// number of cycles with a desired period.
mavlink20.MAV_CMD_DO_FLIGHTTERMINATION = 185 // Terminate flight immediately
mavlink20.MAV_CMD_DO_CHANGE_ALTITUDE = 186 // Change altitude set point.
mavlink20.MAV_CMD_DO_SET_ACTUATOR = 187 // Sets actuators (e.g. servos) to a desired value. The actuator numbers
// are mapped to specific outputs (e.g. on any
// MAIN or AUX PWM or UAVCAN) using a flight-
// stack specific mechanism (i.e. a
// parameter).
mavlink20.MAV_CMD_DO_LAND_START = 189 // Mission command to perform a landing. This is used as a marker in a
// mission to tell the autopilot where a
// sequence of mission items that represents a
// landing starts. It may also be sent via a
// COMMAND_LONG to trigger a landing, in which
// case the nearest (geographically) landing
// sequence in the mission will be used. The
// Latitude/Longitude is optional, and may be
// set to 0 if not needed. If specified then
// it will be used to help find the closest
// landing sequence.
mavlink20.MAV_CMD_DO_RALLY_LAND = 190 // Mission command to perform a landing from a rally point.
mavlink20.MAV_CMD_DO_GO_AROUND = 191 // Mission command to safely abort an autonomous landing.
mavlink20.MAV_CMD_DO_REPOSITION = 192 // Reposition the vehicle to a specific WGS84 global position.
mavlink20.MAV_CMD_DO_PAUSE_CONTINUE = 193 // If in a GPS controlled position mode, hold the current position or
// continue.
mavlink20.MAV_CMD_DO_SET_REVERSE = 194 // Set moving direction to forward or reverse.
mavlink20.MAV_CMD_DO_SET_ROI_LOCATION = 195 // Sets the region of interest (ROI) to a location. This can then be used
// by the vehicle's control system to control
// the vehicle attitude and the attitude of
// various sensors such as cameras. This
// command can be sent to a gimbal manager but
// not to a gimbal device. A gimbal is not to
// react to this message.
mavlink20.MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196 // Sets the region of interest (ROI) to be toward next waypoint, with
// optional pitch/roll/yaw offset. This can
// then be used by the vehicle's control
// system to control the vehicle attitude and
// the attitude of various sensors such as
// cameras. This command can be sent to a
// gimbal manager but not to a gimbal device.
// A gimbal device is not to react to this
// message.
mavlink20.MAV_CMD_DO_SET_ROI_NONE = 197 // Cancels any previous ROI command returning the vehicle/sensors to
// default flight characteristics. This can
// then be used by the vehicle's control
// system to control the vehicle attitude and
// the attitude of various sensors such as
// cameras. This command can be sent to a
// gimbal manager but not to a gimbal device.
// A gimbal device is not to react to this
// message. After this command the gimbal
// manager should go back to manual input if
// available, and otherwise assume a neutral
// position.
mavlink20.MAV_CMD_DO_SET_ROI_SYSID = 198 // Mount tracks system with specified system ID. Determination of target
// vehicle position may be done with
// GLOBAL_POSITION_INT or any other means.
// This command can be sent to a gimbal
// manager but not to a gimbal device. A
// gimbal device is not to react to this
// message.
mavlink20.MAV_CMD_DO_CONTROL_VIDEO = 200 // Control onboard camera system.
mavlink20.MAV_CMD_DO_SET_ROI = 201 // Sets the region of interest (ROI) for a sensor set or the vehicle
// itself. This can then be used by the
// vehicle's control system to control the
// vehicle attitude and the attitude of
// various sensors such as cameras.
mavlink20.MAV_CMD_DO_DIGICAM_CONFIGURE = 202 // Configure digital camera. This is a fallback message for systems that
// have not yet implemented PARAM_EXT_XXX
// messages and camera definition files (see h
// ttps://mavlink.io/en/services/camera_def.ht
// ml ).
mavlink20.MAV_CMD_DO_DIGICAM_CONTROL = 203 // Control digital camera. This is a fallback message for systems that
// have not yet implemented PARAM_EXT_XXX
// messages and camera definition files (see h
// ttps://mavlink.io/en/services/camera_def.ht
// ml ).
mavlink20.MAV_CMD_DO_MOUNT_CONFIGURE = 204 // Mission command to configure a camera or antenna mount
mavlink20.MAV_CMD_DO_MOUNT_CONTROL = 205 // Mission command to control a camera or antenna mount
mavlink20.MAV_CMD_DO_SET_CAM_TRIGG_DIST = 206 // Mission command to set camera trigger distance for this flight. The
// camera is triggered each time this distance
// is exceeded. This command can also be used
// to set the shutter integration time for the
// camera.
mavlink20.MAV_CMD_DO_FENCE_ENABLE = 207 // Mission command to enable the geofence
mavlink20.MAV_CMD_DO_PARACHUTE = 208 // Mission item/command to release a parachute or enable/disable auto
// release.
mavlink20.MAV_CMD_DO_MOTOR_TEST = 209 // Mission command to perform motor test.
mavlink20.MAV_CMD_DO_INVERTED_FLIGHT = 210 // Change to/from inverted flight.
mavlink20.MAV_CMD_DO_GRIPPER = 211 // Mission command to operate a gripper.
mavlink20.MAV_CMD_DO_AUTOTUNE_ENABLE = 212 // Enable/disable autotune.
mavlink20.MAV_CMD_NAV_SET_YAW_SPEED = 213 // Sets a desired vehicle turn angle and speed change.
mavlink20.MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL = 214 // Mission command to set camera trigger interval for this flight. If
// triggering is enabled, the camera is
// triggered each time this interval expires.
// This command can also be used to set the
// shutter integration time for the camera.
mavlink20.MAV_CMD_DO_SET_RESUME_REPEAT_DIST = 215 // Set the distance to be repeated on mission resume
mavlink20.MAV_CMD_DO_SPRAYER = 216 // Control attached liquid sprayer
mavlink20.MAV_CMD_DO_MOUNT_CONTROL_QUAT = 220 // Mission command to control a camera or antenna mount, using a
// quaternion as reference.
mavlink20.MAV_CMD_DO_GUIDED_MASTER = 221 // set id of master controller
mavlink20.MAV_CMD_DO_GUIDED_LIMITS = 222 // Set limits for external control
mavlink20.MAV_CMD_DO_ENGINE_CONTROL = 223 // Control vehicle engine. This is interpreted by the vehicles engine
// controller to change the target engine
// state. It is intended for vehicles with
// internal combustion engines
mavlink20.MAV_CMD_DO_SET_MISSION_CURRENT = 224 // Set the mission item with sequence number seq as current item. This
// means that the MAV will continue to this
// mission item on the shortest path (not
// following the mission items in-between).
mavlink20.MAV_CMD_DO_LAST = 240 // NOP - This command is only used to mark the upper limit of the DO
// commands in the enumeration
mavlink20.MAV_CMD_PREFLIGHT_CALIBRATION = 241 // Trigger calibration. This command will be only accepted if in pre-
// flight mode. Except for Temperature
// Calibration, only one sensor should be set
// in a single message and all others should
// be zero.
mavlink20.MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242 // Set sensor offsets. This command will be only accepted if in pre-
// flight mode.
mavlink20.MAV_CMD_PREFLIGHT_UAVCAN = 243 // Trigger UAVCAN configuration (actuator ID assignment and direction
// mapping). Note that this maps to the legacy
// UAVCAN v0 function UAVCAN_ENUMERATE, which
// is intended to be executed just once during
// initial vehicle configuration (it is not a
// normal pre-flight command and has been
// poorly named).
mavlink20.MAV_CMD_PREFLIGHT_STORAGE = 245 // Request storage of different parameter values and logs. This command
// will be only accepted if in pre-flight
// mode.
mavlink20.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246 // Request the reboot or shutdown of system components.
mavlink20.MAV_CMD_DO_UPGRADE = 247 // Request a target system to start an upgrade of one (or all) of its
// components. For example, the command might
// be sent to a companion computer to cause it
// to upgrade a connected flight controller.
// The system doing the upgrade will report
// progress using the normal command protocol
// sequence for a long running operation.
// Command protocol information: https://mavli
// nk.io/en/services/command.html.
mavlink20.MAV_CMD_OVERRIDE_GOTO = 252 // Override current mission with command to pause mission, pause mission
// and move to position, continue/resume
// mission. When param 1 indicates that the
// mission is paused (MAV_GOTO_DO_HOLD), param
// 2 defines whether it holds in place or
// moves to another position.
mavlink20.MAV_CMD_OBLIQUE_SURVEY = 260 // Mission command to set a Camera Auto Mount Pivoting Oblique Survey
// (Replaces CAM_TRIGG_DIST for this purpose).
// The camera is triggered each time this
// distance is exceeded, then the mount moves
// to the next position. Params 4~6 set-up the
// angle limits and number of positions for
// oblique survey, where mount-enabled
// vehicles automatically roll the camera
// between shots to emulate an oblique camera
// setup (providing an increased HFOV). This
// command can also be used to set the shutter
// integration time for the camera.
mavlink20.MAV_CMD_MISSION_START = 300 // start running a mission
mavlink20.MAV_CMD_COMPONENT_ARM_DISARM = 400 // Arms / Disarms a component
mavlink20.MAV_CMD_ILLUMINATOR_ON_OFF = 405 // Turns illuminators ON/OFF. An illuminator is a light source that is
// used for lighting up dark areas external to
// the sytstem: e.g. a torch or searchlight
// (as opposed to a light source for
// illuminating the system itself, e.g. an
// indicator light).
mavlink20.MAV_CMD_GET_HOME_POSITION = 410 // Request the home position from the vehicle.
mavlink20.MAV_CMD_INJECT_FAILURE = 420 // Inject artificial failure for testing purposes. Note that autopilots
// should implement an additional protection
// before accepting this command such as a
// specific param setting.
mavlink20.MAV_CMD_START_RX_PAIR = 500 // Starts receiver pairing.
mavlink20.MAV_CMD_GET_MESSAGE_INTERVAL = 510 // Request the interval between messages for a particular MAVLink message
// ID. The receiver should ACK the command and
// then emit its response in a
// MESSAGE_INTERVAL message.
mavlink20.MAV_CMD_SET_MESSAGE_INTERVAL = 511 // Set the interval between messages for a particular MAVLink message ID.
// This interface replaces
// REQUEST_DATA_STREAM.
mavlink20.MAV_CMD_REQUEST_MESSAGE = 512 // Request the target system(s) emit a single instance of a specified
// message (i.e. a "one-shot" version of
// MAV_CMD_SET_MESSAGE_INTERVAL).
mavlink20.MAV_CMD_REQUEST_PROTOCOL_VERSION = 519 // Request MAVLink protocol version compatibility. All receivers should
// ACK the command and then emit their
// capabilities in an PROTOCOL_VERSION message
mavlink20.MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES = 520 // Request autopilot capabilities. The receiver should ACK the command
// and then emit its capabilities in an
// AUTOPILOT_VERSION message
mavlink20.MAV_CMD_REQUEST_CAMERA_INFORMATION = 521 // Request camera information (CAMERA_INFORMATION).
mavlink20.MAV_CMD_REQUEST_CAMERA_SETTINGS = 522 // Request camera settings (CAMERA_SETTINGS).
mavlink20.MAV_CMD_REQUEST_STORAGE_INFORMATION = 525 // Request storage information (STORAGE_INFORMATION). Use the command's
// target_component to target a specific
// component's storage.
mavlink20.MAV_CMD_STORAGE_FORMAT = 526 // Format a storage medium. Once format is complete, a
// STORAGE_INFORMATION message is sent. Use
// the command's target_component to target a
// specific component's storage.
mavlink20.MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS = 527 // Request camera capture status (CAMERA_CAPTURE_STATUS)
mavlink20.MAV_CMD_REQUEST_FLIGHT_INFORMATION = 528 // Request flight information (FLIGHT_INFORMATION)
mavlink20.MAV_CMD_RESET_CAMERA_SETTINGS = 529 // Reset all camera settings to Factory Default
mavlink20.MAV_CMD_SET_CAMERA_MODE = 530 // Set camera running mode. Use NaN for reserved values. GCS will send a
// MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command
// after a mode change if the camera supports
// video streaming.
mavlink20.MAV_CMD_SET_CAMERA_ZOOM = 531 // Set camera zoom. Camera must respond with a CAMERA_SETTINGS message
// (on success).
mavlink20.MAV_CMD_SET_CAMERA_FOCUS = 532 // Set camera focus. Camera must respond with a CAMERA_SETTINGS message
// (on success).
mavlink20.MAV_CMD_JUMP_TAG = 600 // Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.
mavlink20.MAV_CMD_DO_JUMP_TAG = 601 // Jump to the matching tag in the mission list. Repeat this action for
// the specified number of times. A mission
// should contain a single matching tag for
// each jump. If this is not the case then a
// jump to a missing tag should complete the
// mission, and a jump where there are
// multiple matching tags should always select
// the one with the lowest mission sequence
// number.
mavlink20.MAV_CMD_PARAM_TRANSACTION = 900 // Request to start or end a parameter transaction. Multiple kinds of
// transport layers can be used to exchange
// parameters in the transaction (param,
// param_ext and mavftp). The command response
// can either be a success/failure or an in
// progress in case the receiving side takes
// some time to apply the parameters.
mavlink20.MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 // High level setpoint to be sent to a gimbal manager to set a gimbal
// attitude. It is possible to set
// combinations of the values below. E.g. an
// angle as well as a desired angular rate can
// be used to get to this angle at a certain
// angular rate, or an angular rate only will
// result in continuous turning. NaN is to be
// used to signal unset. Note: a gimbal is
// never to react to this command but only the
// gimbal manager.
mavlink20.MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 // Gimbal configuration to set which sysid/compid is in primary and
// secondary control.
mavlink20.MAV_CMD_IMAGE_START_CAPTURE = 2000 // Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each
// capture. Use NaN for reserved values.
mavlink20.MAV_CMD_IMAGE_STOP_CAPTURE = 2001 // Stop image capture sequence Use NaN for reserved values.
mavlink20.MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE = 2002 // Re-request a CAMERA_IMAGE_CAPTURED message.
mavlink20.MAV_CMD_DO_TRIGGER_CONTROL = 2003 // Enable or disable on-board camera triggering system.
mavlink20.MAV_CMD_CAMERA_TRACK_POINT = 2004 // If the camera supports point visual tracking
// (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is
// set), this command allows to initiate the
// tracking.
mavlink20.MAV_CMD_CAMERA_TRACK_RECTANGLE = 2005 // If the camera supports rectangle visual tracking
// (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is
// set), this command allows to initiate the
// tracking.
mavlink20.MAV_CMD_CAMERA_STOP_TRACKING = 2010 // Stops ongoing tracking.
mavlink20.MAV_CMD_VIDEO_START_CAPTURE = 2500 // Starts video capture (recording).
mavlink20.MAV_CMD_VIDEO_STOP_CAPTURE = 2501 // Stop the current video capture (recording).
mavlink20.MAV_CMD_VIDEO_START_STREAMING = 2502 // Start video streaming
mavlink20.MAV_CMD_VIDEO_STOP_STREAMING = 2503 // Stop the given video stream
mavlink20.MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION = 2504 // Request video stream information (VIDEO_STREAM_INFORMATION)
mavlink20.MAV_CMD_REQUEST_VIDEO_STREAM_STATUS = 2505 // Request video stream status (VIDEO_STREAM_STATUS)
mavlink20.MAV_CMD_LOGGING_START = 2510 // Request to start streaming logging data over MAVLink (see also
// LOGGING_DATA message)
mavlink20.MAV_CMD_LOGGING_STOP = 2511 // Request to stop streaming log data over MAVLink
mavlink20.MAV_CMD_AIRFRAME_CONFIGURATION = 2520 //
mavlink20.MAV_CMD_CONTROL_HIGH_LATENCY = 2600 // Request to start/stop transmitting over the high latency telemetry
mavlink20.MAV_CMD_PANORAMA_CREATE = 2800 // Create a panorama at the current position
mavlink20.MAV_CMD_DO_VTOL_TRANSITION = 3000 // Request VTOL transition
mavlink20.MAV_CMD_ARM_AUTHORIZATION_REQUEST = 3001 // Request authorization to arm the vehicle to a external entity, the arm
// authorizer is responsible to request all
// data that is needs from the vehicle before
// authorize or deny the request. If approved
// the progress of command_ack message should
// be set with period of time that this
// authorization is valid in seconds or in
// case it was denied it should be set with
// one of the reasons in
// ARM_AUTH_DENIED_REASON.
mavlink20.MAV_CMD_SET_GUIDED_SUBMODE_STANDARD = 4000 // This command sets the submode to standard guided when vehicle is in
// guided mode. The vehicle holds position and
// altitude and the user can input the desired
// velocities along all three axes.
mavlink20.MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE = 4001 // This command sets submode circle when vehicle is in guided mode.
// Vehicle flies along a circle facing the
// center of the circle. The user can input
// the velocity along the circle and change
// the radius. If no input is given the
// vehicle will hold position.
mavlink20.MAV_CMD_CONDITION_GATE = 4501 // Delay mission state machine until gate has been reached.
mavlink20.MAV_CMD_NAV_FENCE_RETURN_POINT = 5000 // Fence return point (there can only be one such point in a geofence
// definition). If rally points are supported
// they should be used instead.
mavlink20.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION = 5001 // Fence vertex for an inclusion polygon (the polygon must not be self-
// intersecting). The vehicle must stay within
// this area. Minimum of 3 vertices required.
mavlink20.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION = 5002 // Fence vertex for an exclusion polygon (the polygon must not be self-
// intersecting). The vehicle must stay
// outside this area. Minimum of 3 vertices
// required.
mavlink20.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION = 5003 // Circular fence area. The vehicle must stay inside this area.
mavlink20.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION = 5004 // Circular fence area. The vehicle must stay outside this area.
mavlink20.MAV_CMD_NAV_RALLY_POINT = 5100 // Rally point. You can have multiple rally points defined.
mavlink20.MAV_CMD_UAVCAN_GET_NODE_INFO = 5200 // Commands the vehicle to respond with a sequence of messages
// UAVCAN_NODE_INFO, one message per every
// UAVCAN node that is online. Note that some
// of the response messages can be lost, which
// the receiver can detect easily by checking
// whether every received UAVCAN_NODE_STATUS
// has a matching message UAVCAN_NODE_INFO
// received earlier; if not, this command
// should be sent again in order to request
// re-transmission of the node information
// messages.
mavlink20.MAV_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 // Deploy payload on a Lat / Lon / Alt position. This includes the
// navigation to reach the required release
// position and velocity.
mavlink20.MAV_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 // Control the payload deployment.
mavlink20.MAV_CMD_WAYPOINT_USER_1 = 31000 // User defined waypoint item. Ground Station will show the Vehicle as
// flying through this item.
mavlink20.MAV_CMD_WAYPOINT_USER_2 = 31001 // User defined waypoint item. Ground Station will show the Vehicle as
// flying through this item.
mavlink20.MAV_CMD_WAYPOINT_USER_3 = 31002 // User defined waypoint item. Ground Station will show the Vehicle as
// flying through this item.
mavlink20.MAV_CMD_WAYPOINT_USER_4 = 31003 // User defined waypoint item. Ground Station will show the Vehicle as
// flying through this item.
mavlink20.MAV_CMD_WAYPOINT_USER_5 = 31004 // User defined waypoint item. Ground Station will show the Vehicle as
// flying through this item.
mavlink20.MAV_CMD_SPATIAL_USER_1 = 31005 // User defined spatial item. Ground Station will not show the Vehicle as
// flying through this item. Example: ROI
// item.
mavlink20.MAV_CMD_SPATIAL_USER_2 = 31006 // User defined spatial item. Ground Station will not show the Vehicle as
// flying through this item. Example: ROI
// item.
mavlink20.MAV_CMD_SPATIAL_USER_3 = 31007 // User defined spatial item. Ground Station will not show the Vehicle as
// flying through this item. Example: ROI
// item.
mavlink20.MAV_CMD_SPATIAL_USER_4 = 31008 // User defined spatial item. Ground Station will not show the Vehicle as
// flying through this item. Example: ROI
// item.
mavlink20.MAV_CMD_SPATIAL_USER_5 = 31009 // User defined spatial item. Ground Station will not show the Vehicle as
// flying through this item. Example: ROI
// item.
mavlink20.MAV_CMD_USER_1 = 31010 // User defined command. Ground Station will not show the Vehicle as
// flying through this item. Example:
// MAV_CMD_DO_SET_PARAMETER item.
mavlink20.MAV_CMD_USER_2 = 31011 // User defined command. Ground Station will not show the Vehicle as
// flying through this item. Example:
// MAV_CMD_DO_SET_PARAMETER item.
mavlink20.MAV_CMD_USER_3 = 31012 // User defined command. Ground Station will not show the Vehicle as
// flying through this item. Example:
// MAV_CMD_DO_SET_PARAMETER item.
mavlink20.MAV_CMD_USER_4 = 31013 // User defined command. Ground Station will not show the Vehicle as
// flying through this item. Example:
// MAV_CMD_DO_SET_PARAMETER item.
mavlink20.MAV_CMD_USER_5 = 31014 // User defined command. Ground Station will not show the Vehicle as
// flying through this item. Example:
// MAV_CMD_DO_SET_PARAMETER item.
mavlink20.MAV_CMD_POWER_OFF_INITIATED = 42000 // A system wide power-off event has been initiated.
mavlink20.MAV_CMD_SOLO_BTN_FLY_CLICK = 42001 // FLY button has been clicked.
mavlink20.MAV_CMD_SOLO_BTN_FLY_HOLD = 42002 // FLY button has been held for 1.5 seconds.
mavlink20.MAV_CMD_SOLO_BTN_PAUSE_CLICK = 42003 // PAUSE button has been clicked.
mavlink20.MAV_CMD_FIXED_MAG_CAL = 42004 // Magnetometer calibration based on fixed position in earth
// field given by inclination, declination and
// intensity.
mavlink20.MAV_CMD_FIXED_MAG_CAL_FIELD = 42005 // Magnetometer calibration based on fixed expected field values.
mavlink20.MAV_CMD_FIXED_MAG_CAL_YAW = 42006 // Magnetometer calibration based on provided known yaw. This allows for
// fast calibration using WMM field tables in
// the vehicle, given only the known yaw of
// the vehicle. If Latitude and longitude are
// both zero then use the current vehicle
// location.
mavlink20.MAV_CMD_DO_START_MAG_CAL = 42424 // Initiate a magnetometer calibration.
mavlink20.MAV_CMD_DO_ACCEPT_MAG_CAL = 42425 // Accept a magnetometer calibration.
mavlink20.MAV_CMD_DO_CANCEL_MAG_CAL = 42426 // Cancel a running magnetometer calibration.
mavlink20.MAV_CMD_SET_FACTORY_TEST_MODE = 42427 // Command autopilot to get into factory test/diagnostic mode.
mavlink20.MAV_CMD_DO_SEND_BANNER = 42428 // Reply with the version banner.
mavlink20.MAV_CMD_ACCELCAL_VEHICLE_POS = 42429 // 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.
mavlink20.MAV_CMD_GIMBAL_RESET = 42501 // Causes the gimbal to reset and boot as if it was just powered on.
mavlink20.MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS = 42502 // Reports progress and success or failure of gimbal axis calibration
// procedure.
mavlink20.MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION = 42503 // Starts commutation calibration on the gimbal.
mavlink20.MAV_CMD_GIMBAL_FULL_RESET = 42505 // Erases gimbal application and parameters.
mavlink20.MAV_CMD_DO_WINCH = 42600 // Command to operate winch.
mavlink20.MAV_CMD_FLASH_BOOTLOADER = 42650 // Update the bootloader
mavlink20.MAV_CMD_BATTERY_RESET = 42651 // Reset battery capacity for batteries that accumulate consumed battery
// via integration.
mavlink20.MAV_CMD_DEBUG_TRAP = 42700 // Issue a trap signal to the autopilot process, presumably to enter the
// debugger.
mavlink20.MAV_CMD_SCRIPTING = 42701 // Control onboard scripting.
mavlink20.MAV_CMD_GUIDED_CHANGE_SPEED = 43000 // 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.)
mavlink20.MAV_CMD_GUIDED_CHANGE_ALTITUDE = 43001 // 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.)
mavlink20.MAV_CMD_GUIDED_CHANGE_HEADING = 43002 // 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.)
mavlink20.MAV_CMD_ENUM_END = 43003 //
// SCRIPTING_CMD
mavlink20.SCRIPTING_CMD_REPL_START = 0 // Start a REPL session.
mavlink20.SCRIPTING_CMD_REPL_STOP = 1 // End a REPL session.
mavlink20.SCRIPTING_CMD_ENUM_END = 2 //
// LIMITS_STATE
mavlink20.LIMITS_INIT = 0 // Pre-initialization.
mavlink20.LIMITS_DISABLED = 1 // Disabled.
mavlink20.LIMITS_ENABLED = 2 // Checking limits.
mavlink20.LIMITS_TRIGGERED = 3 // A limit has been breached.
mavlink20.LIMITS_RECOVERING = 4 // Taking action e.g. Return/RTL.
mavlink20.LIMITS_RECOVERED = 5 // We're no longer in breach of a limit.
mavlink20.LIMITS_STATE_ENUM_END = 6 //
// LIMIT_MODULE
mavlink20.LIMIT_GPSLOCK = 1 // Pre-initialization.
mavlink20.LIMIT_GEOFENCE = 2 // Disabled.
mavlink20.LIMIT_ALTITUDE = 4 // Checking limits.
mavlink20.LIMIT_MODULE_ENUM_END = 5 //
// RALLY_FLAGS
mavlink20.FAVORABLE_WIND = 1 // Flag set when requiring favorable winds for landing.
mavlink20.LAND_IMMEDIATELY = 2 // 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.
mavlink20.RALLY_FLAGS_ENUM_END = 3 //
// CAMERA_STATUS_TYPES
mavlink20.CAMERA_STATUS_TYPE_HEARTBEAT = 0 // Camera heartbeat, announce camera component ID at 1Hz.
mavlink20.CAMERA_STATUS_TYPE_TRIGGER = 1 // Camera image triggered.
mavlink20.CAMERA_STATUS_TYPE_DISCONNECT = 2 // Camera connection lost.
mavlink20.CAMERA_STATUS_TYPE_ERROR = 3 // Camera unknown error.
mavlink20.CAMERA_STATUS_TYPE_LOWBATT = 4 // Camera battery low. Parameter p1 shows reported voltage.
mavlink20.CAMERA_STATUS_TYPE_LOWSTORE = 5 // Camera storage low. Parameter p1 shows reported shots remaining.
mavlink20.CAMERA_STATUS_TYPE_LOWSTOREV = 6 // Camera storage low. Parameter p1 shows reported video minutes
// remaining.
mavlink20.CAMERA_STATUS_TYPES_ENUM_END = 7 //
// CAMERA_FEEDBACK_FLAGS
mavlink20.CAMERA_FEEDBACK_PHOTO = 0 // Shooting photos, not video.
mavlink20.CAMERA_FEEDBACK_VIDEO = 1 // Shooting video, not stills.
mavlink20.CAMERA_FEEDBACK_BADEXPOSURE = 2 // Unable to achieve requested exposure (e.g. shutter speed too low).
mavlink20.CAMERA_FEEDBACK_CLOSEDLOOP = 3 // Closed loop feedback from camera, we know for sure it has successfully
// taken a picture.
mavlink20.CAMERA_FEEDBACK_OPENLOOP = 4 // Open loop camera, an image trigger has been requested but we can't
// know for sure it has successfully taken a
// picture.
mavlink20.CAMERA_FEEDBACK_FLAGS_ENUM_END = 5 //
// MAV_MODE_GIMBAL
mavlink20.MAV_MODE_GIMBAL_UNINITIALIZED = 0 // Gimbal is powered on but has not started initializing yet.
mavlink20.MAV_MODE_GIMBAL_CALIBRATING_PITCH = 1 // Gimbal is currently running calibration on the pitch axis.
mavlink20.MAV_MODE_GIMBAL_CALIBRATING_ROLL = 2 // Gimbal is currently running calibration on the roll axis.
mavlink20.MAV_MODE_GIMBAL_CALIBRATING_YAW = 3 // Gimbal is currently running calibration on the yaw axis.
mavlink20.MAV_MODE_GIMBAL_INITIALIZED = 4 // Gimbal has finished calibrating and initializing, but is relaxed
// pending reception of first rate command
// from copter.
mavlink20.MAV_MODE_GIMBAL_ACTIVE = 5 // Gimbal is actively stabilizing.
mavlink20.MAV_MODE_GIMBAL_RATE_CMD_TIMEOUT = 6 // 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.
mavlink20.MAV_MODE_GIMBAL_ENUM_END = 7 //
// GIMBAL_AXIS
mavlink20.GIMBAL_AXIS_YAW = 0 // Gimbal yaw axis.
mavlink20.GIMBAL_AXIS_PITCH = 1 // Gimbal pitch axis.
mavlink20.GIMBAL_AXIS_ROLL = 2 // Gimbal roll axis.
mavlink20.GIMBAL_AXIS_ENUM_END = 3 //
// GIMBAL_AXIS_CALIBRATION_STATUS
mavlink20.GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESS = 0 // Axis calibration is in progress.
mavlink20.GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDED = 1 // Axis calibration succeeded.
mavlink20.GIMBAL_AXIS_CALIBRATION_STATUS_FAILED = 2 // Axis calibration failed.
mavlink20.GIMBAL_AXIS_CALIBRATION_STATUS_ENUM_END = 3 //
// GIMBAL_AXIS_CALIBRATION_REQUIRED
mavlink20.GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWN = 0 // Whether or not this axis requires calibration is unknown at this time.
mavlink20.GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUE = 1 // This axis requires calibration.
mavlink20.GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSE = 2 // This axis does not require calibration.
mavlink20.GIMBAL_AXIS_CALIBRATION_REQUIRED_ENUM_END = 3 //
// GOPRO_HEARTBEAT_STATUS
mavlink20.GOPRO_HEARTBEAT_STATUS_DISCONNECTED = 0 // No GoPro connected.
mavlink20.GOPRO_HEARTBEAT_STATUS_INCOMPATIBLE = 1 // The detected GoPro is not HeroBus compatible.
mavlink20.GOPRO_HEARTBEAT_STATUS_CONNECTED = 2 // A HeroBus compatible GoPro is connected.
mavlink20.GOPRO_HEARTBEAT_STATUS_ERROR = 3 // An unrecoverable error was encountered with the connected GoPro, it
// may require a power cycle.
mavlink20.GOPRO_HEARTBEAT_STATUS_ENUM_END = 4 //
// GOPRO_HEARTBEAT_FLAGS
mavlink20.GOPRO_FLAG_RECORDING = 1 // GoPro is currently recording.
mavlink20.GOPRO_HEARTBEAT_FLAGS_ENUM_END = 2 //
// GOPRO_REQUEST_STATUS
mavlink20.GOPRO_REQUEST_SUCCESS = 0 // The write message with ID indicated succeeded.
mavlink20.GOPRO_REQUEST_FAILED = 1 // The write message with ID indicated failed.
mavlink20.GOPRO_REQUEST_STATUS_ENUM_END = 2 //
// GOPRO_COMMAND
mavlink20.GOPRO_COMMAND_POWER = 0 // (Get/Set).
mavlink20.GOPRO_COMMAND_CAPTURE_MODE = 1 // (Get/Set).
mavlink20.GOPRO_COMMAND_SHUTTER = 2 // (___/Set).
mavlink20.GOPRO_COMMAND_BATTERY = 3 // (Get/___).
mavlink20.GOPRO_COMMAND_MODEL = 4 // (Get/___).
mavlink20.GOPRO_COMMAND_VIDEO_SETTINGS = 5 // (Get/Set).
mavlink20.GOPRO_COMMAND_LOW_LIGHT = 6 // (Get/Set).
mavlink20.GOPRO_COMMAND_PHOTO_RESOLUTION = 7 // (Get/Set).
mavlink20.GOPRO_COMMAND_PHOTO_BURST_RATE = 8 // (Get/Set).
mavlink20.GOPRO_COMMAND_PROTUNE = 9 // (Get/Set).
mavlink20.GOPRO_COMMAND_PROTUNE_WHITE_BALANCE = 10 // (Get/Set) Hero 3+ Only.
mavlink20.GOPRO_COMMAND_PROTUNE_COLOUR = 11 // (Get/Set) Hero 3+ Only.
mavlink20.GOPRO_COMMAND_PROTUNE_GAIN = 12 // (Get/Set) Hero 3+ Only.
mavlink20.GOPRO_COMMAND_PROTUNE_SHARPNESS = 13 // (Get/Set) Hero 3+ Only.
mavlink20.GOPRO_COMMAND_PROTUNE_EXPOSURE = 14 // (Get/Set) Hero 3+ Only.
mavlink20.GOPRO_COMMAND_TIME = 15 // (Get/Set).
mavlink20.GOPRO_COMMAND_CHARGING = 16 // (Get/Set).
mavlink20.GOPRO_COMMAND_ENUM_END = 17 //
// GOPRO_CAPTURE_MODE
mavlink20.GOPRO_CAPTURE_MODE_VIDEO = 0 // Video mode.
mavlink20.GOPRO_CAPTURE_MODE_PHOTO = 1 // Photo mode.
mavlink20.GOPRO_CAPTURE_MODE_BURST = 2 // Burst mode, Hero 3+ only.
mavlink20.GOPRO_CAPTURE_MODE_TIME_LAPSE = 3 // Time lapse mode, Hero 3+ only.
mavlink20.GOPRO_CAPTURE_MODE_MULTI_SHOT = 4 // Multi shot mode, Hero 4 only.
mavlink20.GOPRO_CAPTURE_MODE_PLAYBACK = 5 // Playback mode, Hero 4 only, silver only except when LCD or HDMI is
// connected to black.
mavlink20.GOPRO_CAPTURE_MODE_SETUP = 6 // Playback mode, Hero 4 only.
mavlink20.GOPRO_CAPTURE_MODE_UNKNOWN = 255 // Mode not yet known.
mavlink20.GOPRO_CAPTURE_MODE_ENUM_END = 256 //
// GOPRO_RESOLUTION
mavlink20.GOPRO_RESOLUTION_480p = 0 // 848 x 480 (480p).
mavlink20.GOPRO_RESOLUTION_720p = 1 // 1280 x 720 (720p).
mavlink20.GOPRO_RESOLUTION_960p = 2 // 1280 x 960 (960p).
mavlink20.GOPRO_RESOLUTION_1080p = 3 // 1920 x 1080 (1080p).
mavlink20.GOPRO_RESOLUTION_1440p = 4 // 1920 x 1440 (1440p).
mavlink20.GOPRO_RESOLUTION_2_7k_17_9 = 5 // 2704 x 1440 (2.7k-17:9).
mavlink20.GOPRO_RESOLUTION_2_7k_16_9 = 6 // 2704 x 1524 (2.7k-16:9).
mavlink20.GOPRO_RESOLUTION_2_7k_4_3 = 7 // 2704 x 2028 (2.7k-4:3).
mavlink20.GOPRO_RESOLUTION_4k_16_9 = 8 // 3840 x 2160 (4k-16:9).
mavlink20.GOPRO_RESOLUTION_4k_17_9 = 9 // 4096 x 2160 (4k-17:9).
mavlink20.GOPRO_RESOLUTION_720p_SUPERVIEW = 10 // 1280 x 720 (720p-SuperView).
mavlink20.GOPRO_RESOLUTION_1080p_SUPERVIEW = 11 // 1920 x 1080 (1080p-SuperView).
mavlink20.GOPRO_RESOLUTION_2_7k_SUPERVIEW = 12 // 2704 x 1520 (2.7k-SuperView).
mavlink20.GOPRO_RESOLUTION_4k_SUPERVIEW = 13 // 3840 x 2160 (4k-SuperView).
mavlink20.GOPRO_RESOLUTION_ENUM_END = 14 //
// GOPRO_FRAME_RATE
mavlink20.GOPRO_FRAME_RATE_12 = 0 // 12 FPS.
mavlink20.GOPRO_FRAME_RATE_15 = 1 // 15 FPS.
mavlink20.GOPRO_FRAME_RATE_24 = 2 // 24 FPS.
mavlink20.GOPRO_FRAME_RATE_25 = 3 // 25 FPS.
mavlink20.GOPRO_FRAME_RATE_30 = 4 // 30 FPS.
mavlink20.GOPRO_FRAME_RATE_48 = 5 // 48 FPS.
mavlink20.GOPRO_FRAME_RATE_50 = 6 // 50 FPS.
mavlink20.GOPRO_FRAME_RATE_60 = 7 // 60 FPS.
mavlink20.GOPRO_FRAME_RATE_80 = 8 // 80 FPS.
mavlink20.GOPRO_FRAME_RATE_90 = 9 // 90 FPS.
mavlink20.GOPRO_FRAME_RATE_100 = 10 // 100 FPS.
mavlink20.GOPRO_FRAME_RATE_120 = 11 // 120 FPS.
mavlink20.GOPRO_FRAME_RATE_240 = 12 // 240 FPS.
mavlink20.GOPRO_FRAME_RATE_12_5 = 13 // 12.5 FPS.
mavlink20.GOPRO_FRAME_RATE_ENUM_END = 14 //
// GOPRO_FIELD_OF_VIEW
mavlink20.GOPRO_FIELD_OF_VIEW_WIDE = 0 // 0x00: Wide.
mavlink20.GOPRO_FIELD_OF_VIEW_MEDIUM = 1 // 0x01: Medium.
mavlink20.GOPRO_FIELD_OF_VIEW_NARROW = 2 // 0x02: Narrow.
mavlink20.GOPRO_FIELD_OF_VIEW_ENUM_END = 3 //
// GOPRO_VIDEO_SETTINGS_FLAGS
mavlink20.GOPRO_VIDEO_SETTINGS_TV_MODE = 1 // 0=NTSC, 1=PAL.
mavlink20.GOPRO_VIDEO_SETTINGS_FLAGS_ENUM_END = 2 //
// GOPRO_PHOTO_RESOLUTION
mavlink20.GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM = 0 // 5MP Medium.
mavlink20.GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM = 1 // 7MP Medium.
mavlink20.GOPRO_PHOTO_RESOLUTION_7MP_WIDE = 2 // 7MP Wide.
mavlink20.GOPRO_PHOTO_RESOLUTION_10MP_WIDE = 3 // 10MP Wide.
mavlink20.GOPRO_PHOTO_RESOLUTION_12MP_WIDE = 4 // 12MP Wide.
mavlink20.GOPRO_PHOTO_RESOLUTION_ENUM_END = 5 //
// GOPRO_PROTUNE_WHITE_BALANCE
mavlink20.GOPRO_PROTUNE_WHITE_BALANCE_AUTO = 0 // Auto.
mavlink20.GOPRO_PROTUNE_WHITE_BALANCE_3000K = 1 // 3000K.
mavlink20.GOPRO_PROTUNE_WHITE_BALANCE_5500K = 2 // 5500K.
mavlink20.GOPRO_PROTUNE_WHITE_BALANCE_6500K = 3 // 6500K.
mavlink20.GOPRO_PROTUNE_WHITE_BALANCE_RAW = 4 // Camera Raw.
mavlink20.GOPRO_PROTUNE_WHITE_BALANCE_ENUM_END = 5 //
// GOPRO_PROTUNE_COLOUR
mavlink20.GOPRO_PROTUNE_COLOUR_STANDARD = 0 // Auto.
mavlink20.GOPRO_PROTUNE_COLOUR_NEUTRAL = 1 // Neutral.
mavlink20.GOPRO_PROTUNE_COLOUR_ENUM_END = 2 //
// GOPRO_PROTUNE_GAIN
mavlink20.GOPRO_PROTUNE_GAIN_400 = 0 // ISO 400.
mavlink20.GOPRO_PROTUNE_GAIN_800 = 1 // ISO 800 (Only Hero 4).
mavlink20.GOPRO_PROTUNE_GAIN_1600 = 2 // ISO 1600.
mavlink20.GOPRO_PROTUNE_GAIN_3200 = 3 // ISO 3200 (Only Hero 4).
mavlink20.GOPRO_PROTUNE_GAIN_6400 = 4 // ISO 6400.
mavlink20.GOPRO_PROTUNE_GAIN_ENUM_END = 5 //
// GOPRO_PROTUNE_SHARPNESS
mavlink20.GOPRO_PROTUNE_SHARPNESS_LOW = 0 // Low Sharpness.
mavlink20.GOPRO_PROTUNE_SHARPNESS_MEDIUM = 1 // Medium Sharpness.
mavlink20.GOPRO_PROTUNE_SHARPNESS_HIGH = 2 // High Sharpness.
mavlink20.GOPRO_PROTUNE_SHARPNESS_ENUM_END = 3 //
// GOPRO_PROTUNE_EXPOSURE
mavlink20.GOPRO_PROTUNE_EXPOSURE_NEG_5_0 = 0 // -5.0 EV (Hero 3+ Only).
mavlink20.GOPRO_PROTUNE_EXPOSURE_NEG_4_5 = 1 // -4.5 EV (Hero 3+ Only).
mavlink20.GOPRO_PROTUNE_EXPOSURE_NEG_4_0 = 2 // -4.0 EV (Hero 3+ Only).
mavlink20.GOPRO_PROTUNE_EXPOSURE_NEG_3_5 = 3 // -3.5 EV (Hero 3+ Only).
mavlink20.GOPRO_PROTUNE_EXPOSURE_NEG_3_0 = 4 // -3.0 EV (Hero 3+ Only).
mavlink20.GOPRO_PROTUNE_EXPOSURE_NEG_2_5 = 5 // -2.5 EV (Hero 3+ Only).
mavlink20.GOPRO_PROTUNE_EXPOSURE_NEG_2_0 = 6 // -2.0 EV.
mavlink20.GOPRO_PROTUNE_EXPOSURE_NEG_1_5 = 7 // -1.5 EV.
mavlink20.GOPRO_PROTUNE_EXPOSURE_NEG_1_0 = 8 // -1.0 EV.
mavlink20.GOPRO_PROTUNE_EXPOSURE_NEG_0_5 = 9 // -0.5 EV.
mavlink20.GOPRO_PROTUNE_EXPOSURE_ZERO = 10 // 0.0 EV.
mavlink20.GOPRO_PROTUNE_EXPOSURE_POS_0_5 = 11 // +0.5 EV.
mavlink20.GOPRO_PROTUNE_EXPOSURE_POS_1_0 = 12 // +1.0 EV.
mavlink20.GOPRO_PROTUNE_EXPOSURE_POS_1_5 = 13 // +1.5 EV.
mavlink20.GOPRO_PROTUNE_EXPOSURE_POS_2_0 = 14 // +2.0 EV.
mavlink20.GOPRO_PROTUNE_EXPOSURE_POS_2_5 = 15 // +2.5 EV (Hero 3+ Only).
mavlink20.GOPRO_PROTUNE_EXPOSURE_POS_3_0 = 16 // +3.0 EV (Hero 3+ Only).
mavlink20.GOPRO_PROTUNE_EXPOSURE_POS_3_5 = 17 // +3.5 EV (Hero 3+ Only).
mavlink20.GOPRO_PROTUNE_EXPOSURE_POS_4_0 = 18 // +4.0 EV (Hero 3+ Only).
mavlink20.GOPRO_PROTUNE_EXPOSURE_POS_4_5 = 19 // +4.5 EV (Hero 3+ Only).
mavlink20.GOPRO_PROTUNE_EXPOSURE_POS_5_0 = 20 // +5.0 EV (Hero 3+ Only).
mavlink20.GOPRO_PROTUNE_EXPOSURE_ENUM_END = 21 //
// GOPRO_CHARGING
mavlink20.GOPRO_CHARGING_DISABLED = 0 // Charging disabled.
mavlink20.GOPRO_CHARGING_ENABLED = 1 // Charging enabled.
mavlink20.GOPRO_CHARGING_ENUM_END = 2 //
// GOPRO_MODEL
mavlink20.GOPRO_MODEL_UNKNOWN = 0 // Unknown gopro model.
mavlink20.GOPRO_MODEL_HERO_3_PLUS_SILVER = 1 // Hero 3+ Silver (HeroBus not supported by GoPro).
mavlink20.GOPRO_MODEL_HERO_3_PLUS_BLACK = 2 // Hero 3+ Black.
mavlink20.GOPRO_MODEL_HERO_4_SILVER = 3 // Hero 4 Silver.
mavlink20.GOPRO_MODEL_HERO_4_BLACK = 4 // Hero 4 Black.
mavlink20.GOPRO_MODEL_ENUM_END = 5 //
// GOPRO_BURST_RATE
mavlink20.GOPRO_BURST_RATE_3_IN_1_SECOND = 0 // 3 Shots / 1 Second.
mavlink20.GOPRO_BURST_RATE_5_IN_1_SECOND = 1 // 5 Shots / 1 Second.
mavlink20.GOPRO_BURST_RATE_10_IN_1_SECOND = 2 // 10 Shots / 1 Second.
mavlink20.GOPRO_BURST_RATE_10_IN_2_SECOND = 3 // 10 Shots / 2 Second.
mavlink20.GOPRO_BURST_RATE_10_IN_3_SECOND = 4 // 10 Shots / 3 Second (Hero 4 Only).
mavlink20.GOPRO_BURST_RATE_30_IN_1_SECOND = 5 // 30 Shots / 1 Second.
mavlink20.GOPRO_BURST_RATE_30_IN_2_SECOND = 6 // 30 Shots / 2 Second.
mavlink20.GOPRO_BURST_RATE_30_IN_3_SECOND = 7 // 30 Shots / 3 Second.
mavlink20.GOPRO_BURST_RATE_30_IN_6_SECOND = 8 // 30 Shots / 6 Second.
mavlink20.GOPRO_BURST_RATE_ENUM_END = 9 //
// LED_CONTROL_PATTERN
mavlink20.LED_CONTROL_PATTERN_OFF = 0 // LED patterns off (return control to regular vehicle control).
mavlink20.LED_CONTROL_PATTERN_FIRMWAREUPDATE = 1 // LEDs show pattern during firmware update.
mavlink20.LED_CONTROL_PATTERN_CUSTOM = 255 // Custom Pattern using custom bytes fields.
mavlink20.LED_CONTROL_PATTERN_ENUM_END = 256 //
// EKF_STATUS_FLAGS
mavlink20.EKF_ATTITUDE = 1 // Set if EKF's attitude estimate is good.
mavlink20.EKF_VELOCITY_HORIZ = 2 // Set if EKF's horizontal velocity estimate is good.
mavlink20.EKF_VELOCITY_VERT = 4 // Set if EKF's vertical velocity estimate is good.
mavlink20.EKF_POS_HORIZ_REL = 8 // Set if EKF's horizontal position (relative) estimate is good.
mavlink20.EKF_POS_HORIZ_ABS = 16 // Set if EKF's horizontal position (absolute) estimate is good.
mavlink20.EKF_POS_VERT_ABS = 32 // Set if EKF's vertical position (absolute) estimate is good.
mavlink20.EKF_POS_VERT_AGL = 64 // Set if EKF's vertical position (above ground) estimate is good.
mavlink20.EKF_CONST_POS_MODE = 128 // EKF is in constant position mode and does not know it's absolute or
// relative position.
mavlink20.EKF_PRED_POS_HORIZ_REL = 256 // Set if EKF's predicted horizontal position (relative) estimate is
// good.
mavlink20.EKF_PRED_POS_HORIZ_ABS = 512 // Set if EKF's predicted horizontal position (absolute) estimate is
// good.
mavlink20.EKF_UNINITIALIZED = 1024 // Set if EKF has never been healthy.
mavlink20.EKF_STATUS_FLAGS_ENUM_END = 1025 //
// PID_TUNING_AXIS
mavlink20.PID_TUNING_ROLL = 1 //
mavlink20.PID_TUNING_PITCH = 2 //
mavlink20.PID_TUNING_YAW = 3 //
mavlink20.PID_TUNING_ACCZ = 4 //
mavlink20.PID_TUNING_STEER = 5 //
mavlink20.PID_TUNING_LANDING = 6 //
mavlink20.PID_TUNING_AXIS_ENUM_END = 7 //
// MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS
mavlink20.MAV_REMOTE_LOG_DATA_BLOCK_STOP = 2147483645 // UAV to stop sending DataFlash blocks.
mavlink20.MAV_REMOTE_LOG_DATA_BLOCK_START = 2147483646 // UAV to start sending DataFlash blocks.
mavlink20.MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS_ENUM_END = 2147483647 //
// MAV_REMOTE_LOG_DATA_BLOCK_STATUSES
mavlink20.MAV_REMOTE_LOG_DATA_BLOCK_NACK = 0 // This block has NOT been received.
mavlink20.MAV_REMOTE_LOG_DATA_BLOCK_ACK = 1 // This block has been received.
mavlink20.MAV_REMOTE_LOG_DATA_BLOCK_STATUSES_ENUM_END = 2 //