Documentation ¶
Index ¶
- Constants
- func Init()
- func MessageNameIDMap() map[string]int
- type Ahrs
- type Ahrs2
- type Ahrs3
- type AirspeedAutocal
- type ApAdc
- type AutopilotVersionRequest
- func (self *AutopilotVersionRequest) FieldsString() string
- func (self *AutopilotVersionRequest) String() string
- func (self *AutopilotVersionRequest) TypeCRCExtra() uint8
- func (self *AutopilotVersionRequest) TypeID() uint8
- func (self *AutopilotVersionRequest) TypeName() string
- func (self *AutopilotVersionRequest) TypeSize() uint8
- type Battery2
- type CameraFeedback
- type CameraStatus
- type Char16
- type Char32
- type Char64
- type Char96
- type CompassmotStatus
- type Data16
- type Data32
- type Data64
- type Data96
- type DigicamConfigure
- type DigicamControl
- type FenceFetchPoint
- type FencePoint
- type FenceStatus
- type GimbalControl
- type GimbalReport
- type Hwstatus
- type LimitsStatus
- type Meminfo
- type MountConfigure
- type MountControl
- type MountStatus
- type Radio
- type RallyFetchPoint
- type RallyPoint
- type Rangefinder
- type SensorOffsets
- type SetMagOffsets
- type Simstate
- type Wind
Constants ¶
const ( PROTOCOL_NAME = "ardupilotmega" PROTOCOL_INCLUDE = common.PROTOCOL_NAME )
const ( MAV_CMD_DO_MOTOR_TEST = 209 // Mission command to perform motor test MAV_CMD_DO_GRIPPER = 211 // Mission command to operate EPM gripper )
MAV_CMD:
const ( LIMITS_INIT = 0 // pre-initialization LIMITS_DISABLED = 1 // disabled LIMITS_ENABLED = 2 // checking limits LIMITS_TRIGGERED = 3 // a limit has been breached LIMITS_RECOVERING = 4 // taking action eg. RTL LIMITS_RECOVERED = 5 // we're no longer in breach of a limit )
LIMITS_STATE:
const ( LIMIT_GPSLOCK = 1 // pre-initialization LIMIT_GEOFENCE = 2 // disabled LIMIT_ALTITUDE = 4 // checking limits )
LIMIT_MODULE:
const ( FAVORABLE_WIND = 1 // Flag set when requiring favorable winds for landing. 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. )
RALLY_FLAGS: Flags in RALLY_POINT message
const ( PARACHUTE_DISABLE = 0 // Disable parachute release PARACHUTE_ENABLE = 1 // Enable parachute release PARACHUTE_RELEASE = 2 // Release parachute )
PARACHUTE_ACTION:
const ( MOTOR_TEST_THROTTLE_PERCENT = 0 // throttle as a percentage from 0 ~ 100 MOTOR_TEST_THROTTLE_PWM = 1 // throttle as an absolute PWM value (normally in range of 1000~2000) MOTOR_TEST_THROTTLE_PILOT = 2 // throttle pass-through from pilot's transmitter )
MOTOR_TEST_THROTTLE_TYPE:
const ( GRIPPER_ACTION_RELEASE = 0 // gripper release of cargo GRIPPER_ACTION_GRAB = 1 // gripper grabs onto cargo )
GRIPPER_ACTIONS: Gripper actions.
const ( CAMERA_STATUS_TYPE_HEARTBEAT = 0 // Camera heartbeat, announce camera component ID at 1hz CAMERA_STATUS_TYPE_TRIGGER = 1 // Camera image triggered CAMERA_STATUS_TYPE_DISCONNECT = 2 // Camera connection lost CAMERA_STATUS_TYPE_ERROR = 3 // Camera unknown error CAMERA_STATUS_TYPE_LOWBATT = 4 // Camera battery low. Parameter p1 shows reported voltage CAMERA_STATUS_TYPE_LOWSTORE = 5 // Camera storage low. Parameter p1 shows reported shots remaining CAMERA_STATUS_TYPE_LOWSTOREV = 6 // Camera storage low. Parameter p1 shows reported video minutes remaining )
CAMERA_STATUS_TYPES:
const ( VIDEO = 1 // Shooting video, not stills BADEXPOSURE = 2 // Unable to achieve requested exposure (e.g. shutter speed too low) CLOSEDLOOP = 3 // Closed loop feedback from camera, we know for sure it has successfully taken a picture OPENLOOP = 4 // Open loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture )
CAMERA_FEEDBACK_FLAGS:
Variables ¶
This section is empty.
Functions ¶
func Init ¶
func Init()
Init initializes mavlink.ProtocolName, mavlink.ProtocolVersion, and mavlink.MessageFactory.
func MessageNameIDMap ¶
MessageNameIDMap returns a map from message name to message ID.
Types ¶
type Ahrs ¶
type Ahrs struct { Omegaix float32 // X gyro drift estimate rad/s Omegaiy float32 // Y gyro drift estimate rad/s Omegaiz float32 // Z gyro drift estimate rad/s AccelWeight float32 // average accel_weight RenormVal float32 // average renormalisation value ErrorRp float32 // average error_roll_pitch value ErrorYaw float32 // average error_yaw value }
Status of DCM attitude estimator
func (*Ahrs) FieldsString ¶
func (*Ahrs) TypeCRCExtra ¶
type Ahrs2 ¶
type Ahrs2 struct { Roll float32 // Roll angle (rad) Pitch float32 // Pitch angle (rad) Yaw float32 // Yaw angle (rad) Altitude float32 // Altitude (MSL) Lat int32 // Latitude in degrees * 1E7 Lng int32 // Longitude in degrees * 1E7 }
Status of secondary AHRS filter if available
func (*Ahrs2) FieldsString ¶
func (*Ahrs2) TypeCRCExtra ¶
type Ahrs3 ¶
type Ahrs3 struct { Roll float32 // Roll angle (rad) Pitch float32 // Pitch angle (rad) Yaw float32 // Yaw angle (rad) Altitude float32 // Altitude (MSL) Lat int32 // Latitude in degrees * 1E7 Lng int32 // Longitude in degrees * 1E7 V1 float32 // test variable1 V2 float32 // test variable2 V3 float32 // test variable3 V4 float32 // test variable4 }
Status of third AHRS filter if available. This is for ANU research group (Ali and Sean)
func (*Ahrs3) FieldsString ¶
func (*Ahrs3) TypeCRCExtra ¶
type AirspeedAutocal ¶
type AirspeedAutocal struct { Vx float32 // GPS velocity north m/s Vy float32 // GPS velocity east m/s Vz float32 // GPS velocity down m/s DiffPressure float32 // Differential pressure pascals Eas2tas float32 // Estimated to true airspeed ratio Ratio float32 // Airspeed ratio StateX float32 // EKF state x StateY float32 // EKF state y StateZ float32 // EKF state z Pax float32 // EKF Pax Pby float32 // EKF Pby Pcz float32 // EKF Pcz }
Airspeed auto-calibration
func (*AirspeedAutocal) FieldsString ¶
func (self *AirspeedAutocal) FieldsString() string
func (*AirspeedAutocal) String ¶
func (self *AirspeedAutocal) String() string
func (*AirspeedAutocal) TypeCRCExtra ¶
func (self *AirspeedAutocal) TypeCRCExtra() uint8
func (*AirspeedAutocal) TypeID ¶
func (self *AirspeedAutocal) TypeID() uint8
func (*AirspeedAutocal) TypeName ¶
func (self *AirspeedAutocal) TypeName() string
func (*AirspeedAutocal) TypeSize ¶
func (self *AirspeedAutocal) TypeSize() uint8
type ApAdc ¶
type ApAdc struct { Adc1 uint16 // ADC output 1 Adc2 uint16 // ADC output 2 Adc3 uint16 // ADC output 3 Adc4 uint16 // ADC output 4 Adc5 uint16 // ADC output 5 Adc6 uint16 // ADC output 6 }
raw ADC output
func (*ApAdc) FieldsString ¶
func (*ApAdc) TypeCRCExtra ¶
type AutopilotVersionRequest ¶
type AutopilotVersionRequest struct { TargetSystem uint8 // System ID TargetComponent uint8 // Component ID }
Request the autopilot version from the system/component.
func (*AutopilotVersionRequest) FieldsString ¶
func (self *AutopilotVersionRequest) FieldsString() string
func (*AutopilotVersionRequest) String ¶
func (self *AutopilotVersionRequest) String() string
func (*AutopilotVersionRequest) TypeCRCExtra ¶
func (self *AutopilotVersionRequest) TypeCRCExtra() uint8
func (*AutopilotVersionRequest) TypeID ¶
func (self *AutopilotVersionRequest) TypeID() uint8
func (*AutopilotVersionRequest) TypeName ¶
func (self *AutopilotVersionRequest) TypeName() string
func (*AutopilotVersionRequest) TypeSize ¶
func (self *AutopilotVersionRequest) TypeSize() uint8
type Battery2 ¶
type Battery2 struct { Voltage uint16 // voltage in millivolts CurrentBattery int16 // Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current }
2nd Battery status
func (*Battery2) FieldsString ¶
func (*Battery2) TypeCRCExtra ¶
type CameraFeedback ¶
type CameraFeedback struct { TimeUsec uint64 // Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB) Lat int32 // Latitude in (deg * 1E7) Lng int32 // Longitude in (deg * 1E7) AltMsl float32 // Altitude Absolute (meters AMSL) AltRel float32 // Altitude Relative (meters above HOME location) Roll float32 // Camera Roll angle (earth frame, degrees, +-180) Pitch float32 // Camera Pitch angle (earth frame, degrees, +-180) Yaw float32 // Camera Yaw (earth frame, degrees, 0-360, true) FocLen float32 // Focal Length (mm) ImgIdx uint16 // Image index TargetSystem uint8 // System ID CamIdx uint8 // Camera ID Flags uint8 // See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask }
Camera Capture Feedback
func (*CameraFeedback) FieldsString ¶
func (self *CameraFeedback) FieldsString() string
func (*CameraFeedback) String ¶
func (self *CameraFeedback) String() string
func (*CameraFeedback) TypeCRCExtra ¶
func (self *CameraFeedback) TypeCRCExtra() uint8
func (*CameraFeedback) TypeID ¶
func (self *CameraFeedback) TypeID() uint8
func (*CameraFeedback) TypeName ¶
func (self *CameraFeedback) TypeName() string
func (*CameraFeedback) TypeSize ¶
func (self *CameraFeedback) TypeSize() uint8
type CameraStatus ¶
type CameraStatus struct { TimeUsec uint64 // Image timestamp (microseconds since UNIX epoch, according to camera clock) P1 float32 // Parameter 1 (meaning depends on event, see CAMERA_STATUS_TYPES enum) P2 float32 // Parameter 2 (meaning depends on event, see CAMERA_STATUS_TYPES enum) P3 float32 // Parameter 3 (meaning depends on event, see CAMERA_STATUS_TYPES enum) P4 float32 // Parameter 4 (meaning depends on event, see CAMERA_STATUS_TYPES enum) ImgIdx uint16 // Image index TargetSystem uint8 // System ID CamIdx uint8 // Camera ID EventId uint8 // See CAMERA_STATUS_TYPES enum for definition of the bitmask }
Camera Event
func (*CameraStatus) FieldsString ¶
func (self *CameraStatus) FieldsString() string
func (*CameraStatus) String ¶
func (self *CameraStatus) String() string
func (*CameraStatus) TypeCRCExtra ¶
func (self *CameraStatus) TypeCRCExtra() uint8
func (*CameraStatus) TypeID ¶
func (self *CameraStatus) TypeID() uint8
func (*CameraStatus) TypeName ¶
func (self *CameraStatus) TypeName() string
func (*CameraStatus) TypeSize ¶
func (self *CameraStatus) TypeSize() uint8
type CompassmotStatus ¶
type CompassmotStatus struct { Current float32 // current (amps) Compensationx float32 // Motor Compensation X Compensationy float32 // Motor Compensation Y Compensationz float32 // Motor Compensation Z Throttle uint16 // throttle (percent*10) Interference uint16 // interference (percent) }
Status of compassmot calibration
func (*CompassmotStatus) FieldsString ¶
func (self *CompassmotStatus) FieldsString() string
func (*CompassmotStatus) String ¶
func (self *CompassmotStatus) String() string
func (*CompassmotStatus) TypeCRCExtra ¶
func (self *CompassmotStatus) TypeCRCExtra() uint8
func (*CompassmotStatus) TypeID ¶
func (self *CompassmotStatus) TypeID() uint8
func (*CompassmotStatus) TypeName ¶
func (self *CompassmotStatus) TypeName() string
func (*CompassmotStatus) TypeSize ¶
func (self *CompassmotStatus) TypeSize() uint8
type DigicamConfigure ¶
type DigicamConfigure struct { ExtraValue float32 // Correspondent value to given extra_param ShutterSpeed uint16 // Divisor number //e.g. 1000 means 1/1000 (0 means ignore) TargetSystem uint8 // System ID TargetComponent uint8 // Component ID Mode uint8 // Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) Aperture uint8 // F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) Iso uint8 // ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) ExposureType uint8 // Exposure type enumeration from 1 to N (0 means ignore) CommandId uint8 // Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once EngineCutOff uint8 // Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) ExtraParam uint8 // Extra parameters enumeration (0 means ignore) }
Configure on-board Camera Control System.
func (*DigicamConfigure) FieldsString ¶
func (self *DigicamConfigure) FieldsString() string
func (*DigicamConfigure) String ¶
func (self *DigicamConfigure) String() string
func (*DigicamConfigure) TypeCRCExtra ¶
func (self *DigicamConfigure) TypeCRCExtra() uint8
func (*DigicamConfigure) TypeID ¶
func (self *DigicamConfigure) TypeID() uint8
func (*DigicamConfigure) TypeName ¶
func (self *DigicamConfigure) TypeName() string
func (*DigicamConfigure) TypeSize ¶
func (self *DigicamConfigure) TypeSize() uint8
type DigicamControl ¶
type DigicamControl struct { ExtraValue float32 // Correspondent value to given extra_param TargetSystem uint8 // System ID TargetComponent uint8 // Component ID Session uint8 // 0: stop, 1: start or keep it up //Session control e.g. show/hide lens ZoomPos uint8 // 1 to N //Zoom's absolute position (0 means ignore) ZoomStep int8 // -100 to 100 //Zooming step value to offset zoom from the current position FocusLock uint8 // 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus Shot uint8 // 0: ignore, 1: shot or start filming CommandId uint8 // Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once ExtraParam uint8 // Extra parameters enumeration (0 means ignore) }
Control on-board Camera Control System to take shots.
func (*DigicamControl) FieldsString ¶
func (self *DigicamControl) FieldsString() string
func (*DigicamControl) String ¶
func (self *DigicamControl) String() string
func (*DigicamControl) TypeCRCExtra ¶
func (self *DigicamControl) TypeCRCExtra() uint8
func (*DigicamControl) TypeID ¶
func (self *DigicamControl) TypeID() uint8
func (*DigicamControl) TypeName ¶
func (self *DigicamControl) TypeName() string
func (*DigicamControl) TypeSize ¶
func (self *DigicamControl) TypeSize() uint8
type FenceFetchPoint ¶
type FenceFetchPoint struct { TargetSystem uint8 // System ID TargetComponent uint8 // Component ID Idx uint8 // point index (first point is 1, 0 is for return point) }
Request a current fence point from MAV
func (*FenceFetchPoint) FieldsString ¶
func (self *FenceFetchPoint) FieldsString() string
func (*FenceFetchPoint) String ¶
func (self *FenceFetchPoint) String() string
func (*FenceFetchPoint) TypeCRCExtra ¶
func (self *FenceFetchPoint) TypeCRCExtra() uint8
func (*FenceFetchPoint) TypeID ¶
func (self *FenceFetchPoint) TypeID() uint8
func (*FenceFetchPoint) TypeName ¶
func (self *FenceFetchPoint) TypeName() string
func (*FenceFetchPoint) TypeSize ¶
func (self *FenceFetchPoint) TypeSize() uint8
type FencePoint ¶
type FencePoint struct { Lat float32 // Latitude of point Lng float32 // Longitude of point TargetSystem uint8 // System ID TargetComponent uint8 // Component ID Idx uint8 // point index (first point is 1, 0 is for return point) Count uint8 // total number of points (for sanity checking) }
A fence point. Used to set a point when from
GCS -> MAV. Also used to return a point from MAV -> GCS
func (*FencePoint) FieldsString ¶
func (self *FencePoint) FieldsString() string
func (*FencePoint) String ¶
func (self *FencePoint) String() string
func (*FencePoint) TypeCRCExtra ¶
func (self *FencePoint) TypeCRCExtra() uint8
func (*FencePoint) TypeID ¶
func (self *FencePoint) TypeID() uint8
func (*FencePoint) TypeName ¶
func (self *FencePoint) TypeName() string
func (*FencePoint) TypeSize ¶
func (self *FencePoint) TypeSize() uint8
type FenceStatus ¶
type FenceStatus struct { BreachTime uint32 // time of last breach in milliseconds since boot BreachCount uint16 // number of fence breaches BreachStatus uint8 // 0 if currently inside fence, 1 if outside BreachType uint8 `enum:"FENCE_BREACH"` // last breach type (see FENCE_BREACH_* enum) }
Status of geo-fencing. Sent in extended
status stream when fencing enabled
func (*FenceStatus) FieldsString ¶
func (self *FenceStatus) FieldsString() string
func (*FenceStatus) String ¶
func (self *FenceStatus) String() string
func (*FenceStatus) TypeCRCExtra ¶
func (self *FenceStatus) TypeCRCExtra() uint8
func (*FenceStatus) TypeID ¶
func (self *FenceStatus) TypeID() uint8
func (*FenceStatus) TypeName ¶
func (self *FenceStatus) TypeName() string
func (*FenceStatus) TypeSize ¶
func (self *FenceStatus) TypeSize() uint8
type GimbalControl ¶
type GimbalControl struct { DemandedRateX float32 // Demanded angular rate X, radians/s DemandedRateY float32 // Demanded angular rate Y, radians/s DemandedRateZ float32 // Demanded angular rate Z, radians/s GyroBiasX float32 // Gyro bias X, radians/s GyroBiasY float32 // Gyro bias Y, radians/s GyroBiasZ float32 // Gyro bias Z, radians/s TargetSystem uint8 // System ID TargetComponent uint8 // Component ID }
Control packet from vehicle to MAVLink enabled gimbal. All values in gimbal sensor frame
func (*GimbalControl) FieldsString ¶
func (self *GimbalControl) FieldsString() string
func (*GimbalControl) String ¶
func (self *GimbalControl) String() string
func (*GimbalControl) TypeCRCExtra ¶
func (self *GimbalControl) TypeCRCExtra() uint8
func (*GimbalControl) TypeID ¶
func (self *GimbalControl) TypeID() uint8
func (*GimbalControl) TypeName ¶
func (self *GimbalControl) TypeName() string
func (*GimbalControl) TypeSize ¶
func (self *GimbalControl) TypeSize() uint8
type GimbalReport ¶
type GimbalReport struct { DeltaTime float32 // Time since last update (seconds) DeltaAngleX float32 // Delta angle X, radians DeltaAngleY float32 // Delta angle Y, radians DeltaAngleZ float32 // Delta angle Z, radians DeltaVelocityX float32 // Delta velocity X, m/s DeltaVelocityY float32 // Delta velocity Y, m/s DeltaVelocityZ float32 // Delta velocity Z, m/s JointRoll float32 // Joint roll, radians JointPitch float32 // Joint pitch, radians JointYaw float32 // Joint yaw, radians TargetSystem uint8 // System ID TargetComponent uint8 // Component ID }
Report from MAVLink enabled gimbal to vehicle. The deltas are in gimbal sensor frame. Joint measurements assume a 312 ordering (azimuth, roll, pitch).
func (*GimbalReport) FieldsString ¶
func (self *GimbalReport) FieldsString() string
func (*GimbalReport) String ¶
func (self *GimbalReport) String() string
func (*GimbalReport) TypeCRCExtra ¶
func (self *GimbalReport) TypeCRCExtra() uint8
func (*GimbalReport) TypeID ¶
func (self *GimbalReport) TypeID() uint8
func (*GimbalReport) TypeName ¶
func (self *GimbalReport) TypeName() string
func (*GimbalReport) TypeSize ¶
func (self *GimbalReport) TypeSize() uint8
type Hwstatus ¶
Status of key hardware
func (*Hwstatus) FieldsString ¶
func (*Hwstatus) TypeCRCExtra ¶
type LimitsStatus ¶
type LimitsStatus struct { LastTrigger uint32 // time of last breach in milliseconds since boot LastAction uint32 // time of last recovery action in milliseconds since boot LastRecovery uint32 // time of last successful recovery in milliseconds since boot LastClear uint32 // time of last all-clear in milliseconds since boot BreachCount uint16 // number of fence breaches LimitsState uint8 `enum:"LIMITS_STATE"` // state of AP_Limits, (see enum LimitState, LIMITS_STATE) ModsEnabled uint8 // AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE) ModsRequired uint8 // AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE) ModsTriggered uint8 // AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE) }
Status of AP_Limits. Sent in extended
status stream when AP_Limits is enabled
func (*LimitsStatus) FieldsString ¶
func (self *LimitsStatus) FieldsString() string
func (*LimitsStatus) String ¶
func (self *LimitsStatus) String() string
func (*LimitsStatus) TypeCRCExtra ¶
func (self *LimitsStatus) TypeCRCExtra() uint8
func (*LimitsStatus) TypeID ¶
func (self *LimitsStatus) TypeID() uint8
func (*LimitsStatus) TypeName ¶
func (self *LimitsStatus) TypeName() string
func (*LimitsStatus) TypeSize ¶
func (self *LimitsStatus) TypeSize() uint8
type MountConfigure ¶
type MountConfigure struct { TargetSystem uint8 // System ID TargetComponent uint8 // Component ID MountMode uint8 `enum:"MAV_MOUNT_MODE"` // mount operating mode (see MAV_MOUNT_MODE enum) StabRoll uint8 // (1 = yes, 0 = no) StabPitch uint8 // (1 = yes, 0 = no) StabYaw uint8 // (1 = yes, 0 = no) }
Message to configure a camera mount, directional antenna, etc.
func (*MountConfigure) FieldsString ¶
func (self *MountConfigure) FieldsString() string
func (*MountConfigure) String ¶
func (self *MountConfigure) String() string
func (*MountConfigure) TypeCRCExtra ¶
func (self *MountConfigure) TypeCRCExtra() uint8
func (*MountConfigure) TypeID ¶
func (self *MountConfigure) TypeID() uint8
func (*MountConfigure) TypeName ¶
func (self *MountConfigure) TypeName() string
func (*MountConfigure) TypeSize ¶
func (self *MountConfigure) TypeSize() uint8
type MountControl ¶
type MountControl struct { InputA int32 // pitch(deg*100) or lat, depending on mount mode InputB int32 // roll(deg*100) or lon depending on mount mode InputC int32 // yaw(deg*100) or alt (in cm) depending on mount mode TargetSystem uint8 // System ID TargetComponent uint8 // Component ID SavePosition uint8 // if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) }
Message to control a camera mount, directional antenna, etc.
func (*MountControl) FieldsString ¶
func (self *MountControl) FieldsString() string
func (*MountControl) String ¶
func (self *MountControl) String() string
func (*MountControl) TypeCRCExtra ¶
func (self *MountControl) TypeCRCExtra() uint8
func (*MountControl) TypeID ¶
func (self *MountControl) TypeID() uint8
func (*MountControl) TypeName ¶
func (self *MountControl) TypeName() string
func (*MountControl) TypeSize ¶
func (self *MountControl) TypeSize() uint8
type MountStatus ¶
type MountStatus struct { PointingA int32 // pitch(deg*100) PointingB int32 // roll(deg*100) PointingC int32 // yaw(deg*100) TargetSystem uint8 // System ID TargetComponent uint8 // Component ID }
Message with some status from APM to GCS about camera or antenna mount
func (*MountStatus) FieldsString ¶
func (self *MountStatus) FieldsString() string
func (*MountStatus) String ¶
func (self *MountStatus) String() string
func (*MountStatus) TypeCRCExtra ¶
func (self *MountStatus) TypeCRCExtra() uint8
func (*MountStatus) TypeID ¶
func (self *MountStatus) TypeID() uint8
func (*MountStatus) TypeName ¶
func (self *MountStatus) TypeName() string
func (*MountStatus) TypeSize ¶
func (self *MountStatus) TypeSize() uint8
type Radio ¶
type Radio struct { Rxerrors uint16 // receive errors Fixed uint16 // count of error corrected packets Rssi uint8 // local signal strength Remrssi uint8 // remote signal strength Txbuf uint8 // how full the tx buffer is as a percentage Noise uint8 // background noise level Remnoise uint8 // remote background noise level }
Status generated by radio
func (*Radio) FieldsString ¶
func (*Radio) TypeCRCExtra ¶
type RallyFetchPoint ¶
type RallyFetchPoint struct { TargetSystem uint8 // System ID TargetComponent uint8 // Component ID Idx uint8 // point index (first point is 0) }
Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid.
func (*RallyFetchPoint) FieldsString ¶
func (self *RallyFetchPoint) FieldsString() string
func (*RallyFetchPoint) String ¶
func (self *RallyFetchPoint) String() string
func (*RallyFetchPoint) TypeCRCExtra ¶
func (self *RallyFetchPoint) TypeCRCExtra() uint8
func (*RallyFetchPoint) TypeID ¶
func (self *RallyFetchPoint) TypeID() uint8
func (*RallyFetchPoint) TypeName ¶
func (self *RallyFetchPoint) TypeName() string
func (*RallyFetchPoint) TypeSize ¶
func (self *RallyFetchPoint) TypeSize() uint8
type RallyPoint ¶
type RallyPoint struct { Lat int32 // Latitude of point in degrees * 1E7 Lng int32 // Longitude of point in degrees * 1E7 Alt int16 // Transit / loiter altitude in meters relative to home BreakAlt int16 // Break altitude in meters relative to home LandDir uint16 // Heading to aim for when landing. In centi-degrees. TargetSystem uint8 // System ID TargetComponent uint8 // Component ID Idx uint8 // point index (first point is 0) Count uint8 // total number of points (for sanity checking) Flags uint8 // See RALLY_FLAGS enum for definition of the bitmask. }
A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS
func (*RallyPoint) FieldsString ¶
func (self *RallyPoint) FieldsString() string
func (*RallyPoint) String ¶
func (self *RallyPoint) String() string
func (*RallyPoint) TypeCRCExtra ¶
func (self *RallyPoint) TypeCRCExtra() uint8
func (*RallyPoint) TypeID ¶
func (self *RallyPoint) TypeID() uint8
func (*RallyPoint) TypeName ¶
func (self *RallyPoint) TypeName() string
func (*RallyPoint) TypeSize ¶
func (self *RallyPoint) TypeSize() uint8
type Rangefinder ¶
type Rangefinder struct { Distance float32 // distance in meters Voltage float32 // raw voltage if available, zero otherwise }
Rangefinder reporting
func (*Rangefinder) FieldsString ¶
func (self *Rangefinder) FieldsString() string
func (*Rangefinder) String ¶
func (self *Rangefinder) String() string
func (*Rangefinder) TypeCRCExtra ¶
func (self *Rangefinder) TypeCRCExtra() uint8
func (*Rangefinder) TypeID ¶
func (self *Rangefinder) TypeID() uint8
func (*Rangefinder) TypeName ¶
func (self *Rangefinder) TypeName() string
func (*Rangefinder) TypeSize ¶
func (self *Rangefinder) TypeSize() uint8
type SensorOffsets ¶
type SensorOffsets struct { MagDeclination float32 // magnetic declination (radians) RawPress int32 // raw pressure from barometer RawTemp int32 // raw temperature from barometer GyroCalX float32 // gyro X calibration GyroCalY float32 // gyro Y calibration GyroCalZ float32 // gyro Z calibration AccelCalX float32 // accel X calibration AccelCalY float32 // accel Y calibration AccelCalZ float32 // accel Z calibration MagOfsX int16 // magnetometer X offset MagOfsY int16 // magnetometer Y offset MagOfsZ int16 // magnetometer Z offset }
Offsets and calibrations values for hardware
sensors. This makes it easier to debug the calibration process.
func (*SensorOffsets) FieldsString ¶
func (self *SensorOffsets) FieldsString() string
func (*SensorOffsets) String ¶
func (self *SensorOffsets) String() string
func (*SensorOffsets) TypeCRCExtra ¶
func (self *SensorOffsets) TypeCRCExtra() uint8
func (*SensorOffsets) TypeID ¶
func (self *SensorOffsets) TypeID() uint8
func (*SensorOffsets) TypeName ¶
func (self *SensorOffsets) TypeName() string
func (*SensorOffsets) TypeSize ¶
func (self *SensorOffsets) TypeSize() uint8
type SetMagOffsets ¶
type SetMagOffsets struct { MagOfsX int16 // magnetometer X offset MagOfsY int16 // magnetometer Y offset MagOfsZ int16 // magnetometer Z offset TargetSystem uint8 // System ID TargetComponent uint8 // Component ID }
Deprecated. Use MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS instead. Set the magnetometer offsets
func (*SetMagOffsets) FieldsString ¶
func (self *SetMagOffsets) FieldsString() string
func (*SetMagOffsets) String ¶
func (self *SetMagOffsets) String() string
func (*SetMagOffsets) TypeCRCExtra ¶
func (self *SetMagOffsets) TypeCRCExtra() uint8
func (*SetMagOffsets) TypeID ¶
func (self *SetMagOffsets) TypeID() uint8
func (*SetMagOffsets) TypeName ¶
func (self *SetMagOffsets) TypeName() string
func (*SetMagOffsets) TypeSize ¶
func (self *SetMagOffsets) TypeSize() uint8
type Simstate ¶
type Simstate struct { Roll float32 // Roll angle (rad) Pitch float32 // Pitch angle (rad) Yaw float32 // Yaw angle (rad) Xacc float32 // X acceleration m/s/s Yacc float32 // Y acceleration m/s/s Zacc float32 // Z acceleration m/s/s Xgyro float32 // Angular speed around X axis rad/s Ygyro float32 // Angular speed around Y axis rad/s Zgyro float32 // Angular speed around Z axis rad/s Lat int32 // Latitude in degrees * 1E7 Lng int32 // Longitude in degrees * 1E7 }
Status of simulation environment, if used
func (*Simstate) FieldsString ¶
func (*Simstate) TypeCRCExtra ¶
type Wind ¶
type Wind struct { Direction float32 // wind direction that wind is coming from (degrees) Speed float32 // wind speed in ground plane (m/s) SpeedZ float32 // vertical wind speed (m/s) }
Wind estimation