github.com/bluenviron/gomavlib/v2@v2.2.1-0.20240308101627-2c07e3da629c/pkg/dialects/cubepilot/enum_mav_cmd.go (about) 1 //autogenerated:yes 2 //nolint:revive,misspell,govet,lll,dupl,gocritic 3 package cubepilot 4 5 import ( 6 "github.com/bluenviron/gomavlib/v2/pkg/dialects/common" 7 ) 8 9 // Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. NaN and INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current yaw or latitude rather than a specific value). See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries 10 type MAV_CMD = common.MAV_CMD 11 12 const ( 13 // Navigate to waypoint. This is intended for use in missions (for guided commands outside of missions use MAV_CMD_DO_REPOSITION). 14 MAV_CMD_NAV_WAYPOINT MAV_CMD = common.MAV_CMD_NAV_WAYPOINT 15 // Loiter around this waypoint an unlimited amount of time 16 MAV_CMD_NAV_LOITER_UNLIM MAV_CMD = common.MAV_CMD_NAV_LOITER_UNLIM 17 // Loiter around this waypoint for X turns 18 MAV_CMD_NAV_LOITER_TURNS MAV_CMD = common.MAV_CMD_NAV_LOITER_TURNS 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. 20 MAV_CMD_NAV_LOITER_TIME MAV_CMD = common.MAV_CMD_NAV_LOITER_TIME 21 // Return to launch location 22 MAV_CMD_NAV_RETURN_TO_LAUNCH MAV_CMD = common.MAV_CMD_NAV_RETURN_TO_LAUNCH 23 // Land at location. 24 MAV_CMD_NAV_LAND MAV_CMD = common.MAV_CMD_NAV_LAND 25 // Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode. 26 MAV_CMD_NAV_TAKEOFF MAV_CMD = common.MAV_CMD_NAV_TAKEOFF 27 // Land at local position (local frame only) 28 MAV_CMD_NAV_LAND_LOCAL MAV_CMD = common.MAV_CMD_NAV_LAND_LOCAL 29 // Takeoff from local position (local frame only) 30 MAV_CMD_NAV_TAKEOFF_LOCAL MAV_CMD = common.MAV_CMD_NAV_TAKEOFF_LOCAL 31 // Vehicle following, i.e. this waypoint represents the position of a moving vehicle 32 MAV_CMD_NAV_FOLLOW MAV_CMD = common.MAV_CMD_NAV_FOLLOW 33 // 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. 34 MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT MAV_CMD = common.MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT 35 // 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. 36 MAV_CMD_NAV_LOITER_TO_ALT MAV_CMD = common.MAV_CMD_NAV_LOITER_TO_ALT 37 // Begin following a target 38 MAV_CMD_DO_FOLLOW MAV_CMD = common.MAV_CMD_DO_FOLLOW 39 // Reposition the MAV after a follow target command has been sent 40 MAV_CMD_DO_FOLLOW_REPOSITION MAV_CMD = common.MAV_CMD_DO_FOLLOW_REPOSITION 41 // Start orbiting on the circumference of a circle defined by the parameters. Setting values to NaN/INT32_MAX (as appropriate) results in using defaults. 42 MAV_CMD_DO_ORBIT MAV_CMD = common.MAV_CMD_DO_ORBIT 43 // 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. 44 MAV_CMD_NAV_ROI MAV_CMD = common.MAV_CMD_NAV_ROI 45 // Control autonomous path planning on the MAV. 46 MAV_CMD_NAV_PATHPLANNING MAV_CMD = common.MAV_CMD_NAV_PATHPLANNING 47 // Navigate to waypoint using a spline path. 48 MAV_CMD_NAV_SPLINE_WAYPOINT MAV_CMD = common.MAV_CMD_NAV_SPLINE_WAYPOINT 49 // 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.). 50 MAV_CMD_NAV_VTOL_TAKEOFF MAV_CMD = common.MAV_CMD_NAV_VTOL_TAKEOFF 51 // Land using VTOL mode 52 MAV_CMD_NAV_VTOL_LAND MAV_CMD = common.MAV_CMD_NAV_VTOL_LAND 53 // hand control over to an external controller 54 MAV_CMD_NAV_GUIDED_ENABLE MAV_CMD = common.MAV_CMD_NAV_GUIDED_ENABLE 55 // Delay the next navigation command a number of seconds or until a specified time 56 MAV_CMD_NAV_DELAY MAV_CMD = common.MAV_CMD_NAV_DELAY 57 // 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. 58 MAV_CMD_NAV_PAYLOAD_PLACE MAV_CMD = common.MAV_CMD_NAV_PAYLOAD_PLACE 59 // NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration 60 MAV_CMD_NAV_LAST MAV_CMD = common.MAV_CMD_NAV_LAST 61 // Delay mission state machine. 62 MAV_CMD_CONDITION_DELAY MAV_CMD = common.MAV_CMD_CONDITION_DELAY 63 // Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached. 64 MAV_CMD_CONDITION_CHANGE_ALT MAV_CMD = common.MAV_CMD_CONDITION_CHANGE_ALT 65 // Delay mission state machine until within desired distance of next NAV point. 66 MAV_CMD_CONDITION_DISTANCE MAV_CMD = common.MAV_CMD_CONDITION_DISTANCE 67 // Reach a certain target angle. 68 MAV_CMD_CONDITION_YAW MAV_CMD = common.MAV_CMD_CONDITION_YAW 69 // NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration 70 MAV_CMD_CONDITION_LAST MAV_CMD = common.MAV_CMD_CONDITION_LAST 71 // Set system mode. 72 MAV_CMD_DO_SET_MODE MAV_CMD = common.MAV_CMD_DO_SET_MODE 73 // Jump to the desired command in the mission list. Repeat this action only the specified number of times 74 MAV_CMD_DO_JUMP MAV_CMD = common.MAV_CMD_DO_JUMP 75 // Change speed and/or throttle set points. The value persists until it is overridden or there is a mode change 76 MAV_CMD_DO_CHANGE_SPEED MAV_CMD = common.MAV_CMD_DO_CHANGE_SPEED 77 // Sets the home position to either to the current position or a specified position. 78 // The home position is the default position that the system will return to and land on. 79 // The position is set automatically by the system during the takeoff (and may also be set using this command). 80 // Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242). 81 MAV_CMD_DO_SET_HOME MAV_CMD = common.MAV_CMD_DO_SET_HOME 82 // Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. 83 MAV_CMD_DO_SET_PARAMETER MAV_CMD = common.MAV_CMD_DO_SET_PARAMETER 84 // Set a relay to a condition. 85 MAV_CMD_DO_SET_RELAY MAV_CMD = common.MAV_CMD_DO_SET_RELAY 86 // Cycle a relay on and off for a desired number of cycles with a desired period. 87 MAV_CMD_DO_REPEAT_RELAY MAV_CMD = common.MAV_CMD_DO_REPEAT_RELAY 88 // Set a servo to a desired PWM value. 89 MAV_CMD_DO_SET_SERVO MAV_CMD = common.MAV_CMD_DO_SET_SERVO 90 // Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. 91 MAV_CMD_DO_REPEAT_SERVO MAV_CMD = common.MAV_CMD_DO_REPEAT_SERVO 92 // Terminate flight immediately. 93 // Flight termination immediately and irreversibly terminates the current flight, returning the vehicle to ground. 94 // The vehicle will ignore RC or other input until it has been power-cycled. 95 // Termination may trigger safety measures, including: disabling motors and deployment of parachute on multicopters, and setting flight surfaces to initiate a landing pattern on fixed-wing). 96 // On multicopters without a parachute it may trigger a crash landing. 97 // Support for this command can be tested using the protocol bit: MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION. 98 // Support for this command can also be tested by sending the command with param1=0 (< 0.5); the ACK should be either MAV_RESULT_FAILED or MAV_RESULT_UNSUPPORTED. 99 MAV_CMD_DO_FLIGHTTERMINATION MAV_CMD = common.MAV_CMD_DO_FLIGHTTERMINATION 100 // Change altitude set point. 101 MAV_CMD_DO_CHANGE_ALTITUDE MAV_CMD = common.MAV_CMD_DO_CHANGE_ALTITUDE 102 // 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). 103 MAV_CMD_DO_SET_ACTUATOR MAV_CMD = common.MAV_CMD_DO_SET_ACTUATOR 104 // 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. 105 // 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. 106 // The Latitude/Longitude/Altitude 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. 107 MAV_CMD_DO_LAND_START MAV_CMD = common.MAV_CMD_DO_LAND_START 108 // Mission command to perform a landing from a rally point. 109 MAV_CMD_DO_RALLY_LAND MAV_CMD = common.MAV_CMD_DO_RALLY_LAND 110 // Mission command to safely abort an autonomous landing. 111 MAV_CMD_DO_GO_AROUND MAV_CMD = common.MAV_CMD_DO_GO_AROUND 112 // Reposition the vehicle to a specific WGS84 global position. This command is intended for guided commands (for missions use MAV_CMD_NAV_WAYPOINT instead). 113 MAV_CMD_DO_REPOSITION MAV_CMD = common.MAV_CMD_DO_REPOSITION 114 // If in a GPS controlled position mode, hold the current position or continue. 115 MAV_CMD_DO_PAUSE_CONTINUE MAV_CMD = common.MAV_CMD_DO_PAUSE_CONTINUE 116 // Set moving direction to forward or reverse. 117 MAV_CMD_DO_SET_REVERSE MAV_CMD = common.MAV_CMD_DO_SET_REVERSE 118 // 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. 119 MAV_CMD_DO_SET_ROI_LOCATION MAV_CMD = common.MAV_CMD_DO_SET_ROI_LOCATION 120 // 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. 121 MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET MAV_CMD = common.MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET 122 // 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. 123 MAV_CMD_DO_SET_ROI_NONE MAV_CMD = common.MAV_CMD_DO_SET_ROI_NONE 124 // 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. 125 MAV_CMD_DO_SET_ROI_SYSID MAV_CMD = common.MAV_CMD_DO_SET_ROI_SYSID 126 // Control onboard camera system. 127 MAV_CMD_DO_CONTROL_VIDEO MAV_CMD = common.MAV_CMD_DO_CONTROL_VIDEO 128 // 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. 129 MAV_CMD_DO_SET_ROI MAV_CMD = common.MAV_CMD_DO_SET_ROI 130 // Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). 131 MAV_CMD_DO_DIGICAM_CONFIGURE MAV_CMD = common.MAV_CMD_DO_DIGICAM_CONFIGURE 132 // Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). 133 MAV_CMD_DO_DIGICAM_CONTROL MAV_CMD = common.MAV_CMD_DO_DIGICAM_CONTROL 134 // Mission command to configure a camera or antenna mount 135 MAV_CMD_DO_MOUNT_CONFIGURE MAV_CMD = common.MAV_CMD_DO_MOUNT_CONFIGURE 136 // Mission command to control a camera or antenna mount 137 MAV_CMD_DO_MOUNT_CONTROL MAV_CMD = common.MAV_CMD_DO_MOUNT_CONTROL 138 // 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. 139 MAV_CMD_DO_SET_CAM_TRIGG_DIST MAV_CMD = common.MAV_CMD_DO_SET_CAM_TRIGG_DIST 140 // Mission command to enable the geofence 141 MAV_CMD_DO_FENCE_ENABLE MAV_CMD = common.MAV_CMD_DO_FENCE_ENABLE 142 // Mission item/command to release a parachute or enable/disable auto release. 143 MAV_CMD_DO_PARACHUTE MAV_CMD = common.MAV_CMD_DO_PARACHUTE 144 // Command to perform motor test. 145 MAV_CMD_DO_MOTOR_TEST MAV_CMD = common.MAV_CMD_DO_MOTOR_TEST 146 // Change to/from inverted flight. 147 MAV_CMD_DO_INVERTED_FLIGHT MAV_CMD = common.MAV_CMD_DO_INVERTED_FLIGHT 148 // Mission command to operate a gripper. 149 MAV_CMD_DO_GRIPPER MAV_CMD = common.MAV_CMD_DO_GRIPPER 150 // Enable/disable autotune. 151 MAV_CMD_DO_AUTOTUNE_ENABLE MAV_CMD = common.MAV_CMD_DO_AUTOTUNE_ENABLE 152 // Sets a desired vehicle turn angle and speed change. 153 MAV_CMD_NAV_SET_YAW_SPEED MAV_CMD = common.MAV_CMD_NAV_SET_YAW_SPEED 154 // 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. 155 MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL MAV_CMD = common.MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL 156 // Mission command to control a camera or antenna mount, using a quaternion as reference. 157 MAV_CMD_DO_MOUNT_CONTROL_QUAT MAV_CMD = common.MAV_CMD_DO_MOUNT_CONTROL_QUAT 158 // set id of master controller 159 MAV_CMD_DO_GUIDED_MASTER MAV_CMD = common.MAV_CMD_DO_GUIDED_MASTER 160 // Set limits for external control 161 MAV_CMD_DO_GUIDED_LIMITS MAV_CMD = common.MAV_CMD_DO_GUIDED_LIMITS 162 // 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 163 MAV_CMD_DO_ENGINE_CONTROL MAV_CMD = common.MAV_CMD_DO_ENGINE_CONTROL 164 // Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). 165 // If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. 166 // Note that mission jump repeat counters are not reset unless param2 is set (see MAV_CMD_DO_JUMP param2). 167 // This command may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. 168 // If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. 169 // If the system is not in mission mode this command must not trigger a switch to mission mode. 170 // The mission may be "reset" using param2. 171 // Resetting sets jump counters to initial values (to reset counters without changing the current mission item set the param1 to `-1`). 172 // Resetting also explicitly changes a mission state of MISSION_STATE_COMPLETE to MISSION_STATE_PAUSED or MISSION_STATE_ACTIVE, potentially allowing it to resume when it is (next) in a mission mode. 173 // The command will ACK with MAV_RESULT_FAILED if the sequence number is out of range (including if there is no mission item). 174 MAV_CMD_DO_SET_MISSION_CURRENT MAV_CMD = common.MAV_CMD_DO_SET_MISSION_CURRENT 175 // NOP - This command is only used to mark the upper limit of the DO commands in the enumeration 176 MAV_CMD_DO_LAST MAV_CMD = common.MAV_CMD_DO_LAST 177 // 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. 178 MAV_CMD_PREFLIGHT_CALIBRATION MAV_CMD = common.MAV_CMD_PREFLIGHT_CALIBRATION 179 // Set sensor offsets. This command will be only accepted if in pre-flight mode. 180 MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS MAV_CMD = common.MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS 181 // 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). 182 MAV_CMD_PREFLIGHT_UAVCAN MAV_CMD = common.MAV_CMD_PREFLIGHT_UAVCAN 183 // Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. 184 MAV_CMD_PREFLIGHT_STORAGE MAV_CMD = common.MAV_CMD_PREFLIGHT_STORAGE 185 // Request the reboot or shutdown of system components. 186 MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN MAV_CMD = common.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN 187 // 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. 188 MAV_CMD_OVERRIDE_GOTO MAV_CMD = common.MAV_CMD_OVERRIDE_GOTO 189 // 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. 190 MAV_CMD_OBLIQUE_SURVEY MAV_CMD = common.MAV_CMD_OBLIQUE_SURVEY 191 // start running a mission 192 MAV_CMD_MISSION_START MAV_CMD = common.MAV_CMD_MISSION_START 193 // Actuator testing command. This is similar to MAV_CMD_DO_MOTOR_TEST but operates on the level of output functions, i.e. it is possible to test Motor1 independent from which output it is configured on. Autopilots typically refuse this command while armed. 194 MAV_CMD_ACTUATOR_TEST MAV_CMD = common.MAV_CMD_ACTUATOR_TEST 195 // Actuator configuration command. 196 MAV_CMD_CONFIGURE_ACTUATOR MAV_CMD = common.MAV_CMD_CONFIGURE_ACTUATOR 197 // Arms / Disarms a component 198 MAV_CMD_COMPONENT_ARM_DISARM MAV_CMD = common.MAV_CMD_COMPONENT_ARM_DISARM 199 // Instructs a target system to run pre-arm checks. 200 // This allows preflight checks to be run on demand, which may be useful on systems that normally run them at low rate, or which do not trigger checks when the armable state might have changed. 201 // This command should return MAV_RESULT_ACCEPTED if it will run the checks. 202 // The results of the checks are usually then reported in SYS_STATUS messages (this is system-specific). 203 // The command should return MAV_RESULT_TEMPORARILY_REJECTED if the system is already armed. 204 MAV_CMD_RUN_PREARM_CHECKS MAV_CMD = common.MAV_CMD_RUN_PREARM_CHECKS 205 // Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light). 206 MAV_CMD_ILLUMINATOR_ON_OFF MAV_CMD = common.MAV_CMD_ILLUMINATOR_ON_OFF 207 // Request the home position from the vehicle. 208 // The vehicle will ACK the command and then emit the HOME_POSITION message. 209 MAV_CMD_GET_HOME_POSITION MAV_CMD = common.MAV_CMD_GET_HOME_POSITION 210 // Inject artificial failure for testing purposes. Note that autopilots should implement an additional protection before accepting this command such as a specific param setting. 211 MAV_CMD_INJECT_FAILURE MAV_CMD = common.MAV_CMD_INJECT_FAILURE 212 // Starts receiver pairing. 213 MAV_CMD_START_RX_PAIR MAV_CMD = common.MAV_CMD_START_RX_PAIR 214 // Request the interval between messages for a particular MAVLink message ID. 215 // The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message. 216 MAV_CMD_GET_MESSAGE_INTERVAL MAV_CMD = common.MAV_CMD_GET_MESSAGE_INTERVAL 217 // Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM. 218 MAV_CMD_SET_MESSAGE_INTERVAL MAV_CMD = common.MAV_CMD_SET_MESSAGE_INTERVAL 219 // 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). 220 MAV_CMD_REQUEST_MESSAGE MAV_CMD = common.MAV_CMD_REQUEST_MESSAGE 221 // Request MAVLink protocol version compatibility. All receivers should ACK the command and then emit their capabilities in an PROTOCOL_VERSION message 222 MAV_CMD_REQUEST_PROTOCOL_VERSION MAV_CMD = common.MAV_CMD_REQUEST_PROTOCOL_VERSION 223 // Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message 224 MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES MAV_CMD = common.MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES 225 // Request camera information (CAMERA_INFORMATION). 226 MAV_CMD_REQUEST_CAMERA_INFORMATION MAV_CMD = common.MAV_CMD_REQUEST_CAMERA_INFORMATION 227 // Request camera settings (CAMERA_SETTINGS). 228 MAV_CMD_REQUEST_CAMERA_SETTINGS MAV_CMD = common.MAV_CMD_REQUEST_CAMERA_SETTINGS 229 // Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. 230 MAV_CMD_REQUEST_STORAGE_INFORMATION MAV_CMD = common.MAV_CMD_REQUEST_STORAGE_INFORMATION 231 // 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. 232 MAV_CMD_STORAGE_FORMAT MAV_CMD = common.MAV_CMD_STORAGE_FORMAT 233 // Request camera capture status (CAMERA_CAPTURE_STATUS) 234 MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS MAV_CMD = common.MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS 235 // Request flight information (FLIGHT_INFORMATION) 236 MAV_CMD_REQUEST_FLIGHT_INFORMATION MAV_CMD = common.MAV_CMD_REQUEST_FLIGHT_INFORMATION 237 // Reset all camera settings to Factory Default 238 MAV_CMD_RESET_CAMERA_SETTINGS MAV_CMD = common.MAV_CMD_RESET_CAMERA_SETTINGS 239 // 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. 240 MAV_CMD_SET_CAMERA_MODE MAV_CMD = common.MAV_CMD_SET_CAMERA_MODE 241 // Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success). 242 MAV_CMD_SET_CAMERA_ZOOM MAV_CMD = common.MAV_CMD_SET_CAMERA_ZOOM 243 // Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success). 244 MAV_CMD_SET_CAMERA_FOCUS MAV_CMD = common.MAV_CMD_SET_CAMERA_FOCUS 245 // Set that a particular storage is the preferred location for saving photos, videos, and/or other media (e.g. to set that an SD card is used for storing videos). 246 // There can only be one preferred save location for each particular media type: setting a media usage flag will clear/reset that same flag if set on any other storage. 247 // If no flag is set the system should use its default storage. 248 // A target system can choose to always use default storage, in which case it should ACK the command with MAV_RESULT_UNSUPPORTED. 249 // A target system can choose to not allow a particular storage to be set as preferred storage, in which case it should ACK the command with MAV_RESULT_DENIED. 250 MAV_CMD_SET_STORAGE_USAGE MAV_CMD = common.MAV_CMD_SET_STORAGE_USAGE 251 // Set camera source. Changes the camera's active sources on cameras with multiple image sensors. 252 MAV_CMD_SET_CAMERA_SOURCE MAV_CMD = common.MAV_CMD_SET_CAMERA_SOURCE 253 // Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG. 254 MAV_CMD_JUMP_TAG MAV_CMD = common.MAV_CMD_JUMP_TAG 255 // 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. 256 MAV_CMD_DO_JUMP_TAG MAV_CMD = common.MAV_CMD_DO_JUMP_TAG 257 // Set gimbal manager pitch/yaw setpoints (low rate command). 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: only the gimbal manager will react to this command - it will be ignored by a gimbal device. Use GIMBAL_MANAGER_SET_PITCHYAW if you need to stream pitch/yaw setpoints at higher rate. 258 MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW MAV_CMD = common.MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW 259 // Gimbal configuration to set which sysid/compid is in primary and secondary control. 260 MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE MAV_CMD = common.MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE 261 // Start image capture sequence. CAMERA_IMAGE_CAPTURED must be emitted after each capture. 262 // 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. 263 // 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). 264 // It is also needed to specify the target camera in missions. 265 // 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). 266 // If the param1 is 0 the autopilot should do both. 267 // When sent in a command the target MAVLink address is set using target_component. 268 // 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). 269 // 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. 270 // 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. 271 MAV_CMD_IMAGE_START_CAPTURE MAV_CMD = common.MAV_CMD_IMAGE_START_CAPTURE 272 // Stop image capture sequence. 273 // 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. 274 // 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). 275 // It is also needed to specify the target camera in missions. 276 // 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). 277 // If the param1 is 0 the autopilot should do both. 278 // When sent in a command the target MAVLink address is set using target_component. 279 // 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). 280 // 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. 281 // 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. 282 MAV_CMD_IMAGE_STOP_CAPTURE MAV_CMD = common.MAV_CMD_IMAGE_STOP_CAPTURE 283 // Re-request a CAMERA_IMAGE_CAPTURED message. 284 MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE MAV_CMD = common.MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE 285 // Enable or disable on-board camera triggering system. 286 MAV_CMD_DO_TRIGGER_CONTROL MAV_CMD = common.MAV_CMD_DO_TRIGGER_CONTROL 287 // If the camera supports point visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking. 288 MAV_CMD_CAMERA_TRACK_POINT MAV_CMD = common.MAV_CMD_CAMERA_TRACK_POINT 289 // If the camera supports rectangle visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking. 290 MAV_CMD_CAMERA_TRACK_RECTANGLE MAV_CMD = common.MAV_CMD_CAMERA_TRACK_RECTANGLE 291 // Stops ongoing tracking. 292 MAV_CMD_CAMERA_STOP_TRACKING MAV_CMD = common.MAV_CMD_CAMERA_STOP_TRACKING 293 // Starts video capture (recording). 294 MAV_CMD_VIDEO_START_CAPTURE MAV_CMD = common.MAV_CMD_VIDEO_START_CAPTURE 295 // Stop the current video capture (recording). 296 MAV_CMD_VIDEO_STOP_CAPTURE MAV_CMD = common.MAV_CMD_VIDEO_STOP_CAPTURE 297 // Start video streaming 298 MAV_CMD_VIDEO_START_STREAMING MAV_CMD = common.MAV_CMD_VIDEO_START_STREAMING 299 // Stop the given video stream 300 MAV_CMD_VIDEO_STOP_STREAMING MAV_CMD = common.MAV_CMD_VIDEO_STOP_STREAMING 301 // Request video stream information (VIDEO_STREAM_INFORMATION) 302 MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION MAV_CMD = common.MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION 303 // Request video stream status (VIDEO_STREAM_STATUS) 304 MAV_CMD_REQUEST_VIDEO_STREAM_STATUS MAV_CMD = common.MAV_CMD_REQUEST_VIDEO_STREAM_STATUS 305 // Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) 306 MAV_CMD_LOGGING_START MAV_CMD = common.MAV_CMD_LOGGING_START 307 // Request to stop streaming log data over MAVLink 308 MAV_CMD_LOGGING_STOP MAV_CMD = common.MAV_CMD_LOGGING_STOP 309 MAV_CMD_AIRFRAME_CONFIGURATION MAV_CMD = common.MAV_CMD_AIRFRAME_CONFIGURATION 310 // Request to start/stop transmitting over the high latency telemetry 311 MAV_CMD_CONTROL_HIGH_LATENCY MAV_CMD = common.MAV_CMD_CONTROL_HIGH_LATENCY 312 // Create a panorama at the current position 313 MAV_CMD_PANORAMA_CREATE MAV_CMD = common.MAV_CMD_PANORAMA_CREATE 314 // Request VTOL transition 315 MAV_CMD_DO_VTOL_TRANSITION MAV_CMD = common.MAV_CMD_DO_VTOL_TRANSITION 316 // 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. 317 // If approved the COMMAND_ACK message progress field should be set with period of time that this authorization is valid in seconds. 318 // If the authorization is denied COMMAND_ACK.result_param2 should be set with one of the reasons in ARM_AUTH_DENIED_REASON. 319 MAV_CMD_ARM_AUTHORIZATION_REQUEST MAV_CMD = common.MAV_CMD_ARM_AUTHORIZATION_REQUEST 320 // 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. 321 MAV_CMD_SET_GUIDED_SUBMODE_STANDARD MAV_CMD = common.MAV_CMD_SET_GUIDED_SUBMODE_STANDARD 322 // 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. 323 MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE MAV_CMD = common.MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE 324 // Delay mission state machine until gate has been reached. 325 MAV_CMD_CONDITION_GATE MAV_CMD = common.MAV_CMD_CONDITION_GATE 326 // Fence return point (there can only be one such point in a geofence definition). If rally points are supported they should be used instead. 327 MAV_CMD_NAV_FENCE_RETURN_POINT MAV_CMD = common.MAV_CMD_NAV_FENCE_RETURN_POINT 328 // 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. 329 MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION MAV_CMD = common.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION 330 // 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. 331 MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION MAV_CMD = common.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION 332 // Circular fence area. The vehicle must stay inside this area. 333 MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION MAV_CMD = common.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION 334 // Circular fence area. The vehicle must stay outside this area. 335 MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION MAV_CMD = common.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION 336 // Rally point. You can have multiple rally points defined. 337 MAV_CMD_NAV_RALLY_POINT MAV_CMD = common.MAV_CMD_NAV_RALLY_POINT 338 // 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. 339 MAV_CMD_UAVCAN_GET_NODE_INFO MAV_CMD = common.MAV_CMD_UAVCAN_GET_NODE_INFO 340 // Change state of safety switch. 341 MAV_CMD_DO_SET_SAFETY_SWITCH_STATE MAV_CMD = common.MAV_CMD_DO_SET_SAFETY_SWITCH_STATE 342 // Trigger the start of an ADSB-out IDENT. This should only be used when requested to do so by an Air Traffic Controller in controlled airspace. This starts the IDENT which is then typically held for 18 seconds by the hardware per the Mode A, C, and S transponder spec. 343 MAV_CMD_DO_ADSB_OUT_IDENT MAV_CMD = common.MAV_CMD_DO_ADSB_OUT_IDENT 344 // Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. 345 MAV_CMD_PAYLOAD_PREPARE_DEPLOY MAV_CMD = common.MAV_CMD_PAYLOAD_PREPARE_DEPLOY 346 // Control the payload deployment. 347 MAV_CMD_PAYLOAD_CONTROL_DEPLOY MAV_CMD = common.MAV_CMD_PAYLOAD_CONTROL_DEPLOY 348 // 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. 349 MAV_CMD_FIXED_MAG_CAL_YAW MAV_CMD = common.MAV_CMD_FIXED_MAG_CAL_YAW 350 // Command to operate winch. 351 MAV_CMD_DO_WINCH MAV_CMD = common.MAV_CMD_DO_WINCH 352 // Provide an external position estimate for use when dead-reckoning. This is meant to be used for occasional position resets that may be provided by a external system such as a remote pilot using landmarks over a video link. 353 MAV_CMD_EXTERNAL_POSITION_ESTIMATE MAV_CMD = common.MAV_CMD_EXTERNAL_POSITION_ESTIMATE 354 // User defined waypoint item. Ground Station will show the Vehicle as flying through this item. 355 MAV_CMD_WAYPOINT_USER_1 MAV_CMD = common.MAV_CMD_WAYPOINT_USER_1 356 // User defined waypoint item. Ground Station will show the Vehicle as flying through this item. 357 MAV_CMD_WAYPOINT_USER_2 MAV_CMD = common.MAV_CMD_WAYPOINT_USER_2 358 // User defined waypoint item. Ground Station will show the Vehicle as flying through this item. 359 MAV_CMD_WAYPOINT_USER_3 MAV_CMD = common.MAV_CMD_WAYPOINT_USER_3 360 // User defined waypoint item. Ground Station will show the Vehicle as flying through this item. 361 MAV_CMD_WAYPOINT_USER_4 MAV_CMD = common.MAV_CMD_WAYPOINT_USER_4 362 // User defined waypoint item. Ground Station will show the Vehicle as flying through this item. 363 MAV_CMD_WAYPOINT_USER_5 MAV_CMD = common.MAV_CMD_WAYPOINT_USER_5 364 // User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. 365 MAV_CMD_SPATIAL_USER_1 MAV_CMD = common.MAV_CMD_SPATIAL_USER_1 366 // User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. 367 MAV_CMD_SPATIAL_USER_2 MAV_CMD = common.MAV_CMD_SPATIAL_USER_2 368 // User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. 369 MAV_CMD_SPATIAL_USER_3 MAV_CMD = common.MAV_CMD_SPATIAL_USER_3 370 // User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. 371 MAV_CMD_SPATIAL_USER_4 MAV_CMD = common.MAV_CMD_SPATIAL_USER_4 372 // User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. 373 MAV_CMD_SPATIAL_USER_5 MAV_CMD = common.MAV_CMD_SPATIAL_USER_5 374 // User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. 375 MAV_CMD_USER_1 MAV_CMD = common.MAV_CMD_USER_1 376 // User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. 377 MAV_CMD_USER_2 MAV_CMD = common.MAV_CMD_USER_2 378 // User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. 379 MAV_CMD_USER_3 MAV_CMD = common.MAV_CMD_USER_3 380 // User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. 381 MAV_CMD_USER_4 MAV_CMD = common.MAV_CMD_USER_4 382 // User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. 383 MAV_CMD_USER_5 MAV_CMD = common.MAV_CMD_USER_5 384 // Request forwarding of CAN packets from the given CAN bus to this component. CAN Frames are sent using CAN_FRAME and CANFD_FRAME messages 385 MAV_CMD_CAN_FORWARD MAV_CMD = common.MAV_CMD_CAN_FORWARD 386 )