mavlink

package module
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 Go to latest Published: Mar 23, 2014 License: MIT Imports: 4 Imported by: 0

README

#go-mavlink

go impletation of the MAVLink protocol.

MAVLink or Micro Air Vehicle Link is a protocol for communicating with small unmanned vehicle. It's designed as a header-only message marshaling library. MAVLink was first released early 2009 by Lorenz Meier under LGPL license.

This implementation is mainly inspired by the C version (see on GitHub). Only tested under Unix

#Usage

Here two quick examples to understand how to deal with it but first, look at the MavPacket definition.

###MavPacket definition :

type Message interface {
        ID() uint8
        Size() uint8
}

type MavHeader struct {
        FrameStart     uint8
        PayloadLength  uint8
        PacketSequence uint8
        SystemID       uint8
        ComponentID    uint8
        MessageID      uint8
}

type MavPacket struct {
        Header   MavHeader
        Msg      Message
        Checksum uint16
}

You got all the message definitions in message.go.

##UDP communication (receiving example)

package main

import (
	"bufio"
	"fmt"
	mav "github.com/Sabmit/go-mavlink"
	"log"
	"net"
)

func main() {
	laddr, _ := net.ResolveUDPAddr("udp", "127.0.0.1:14550")
	conn, _ := net.ListenUDP("udp", laddr) // check errors

	parser := mav.GetMavParser()
    reader := bufio.NewReader(conn)

    for {
    	c, _ := reader.ReadByte() // check errors

        packet, err := parser(c)
        if err != nil {
        	log.Fatalf("Parser error: ", err)
        } else if packet != nil {
        	fmt.Println("Packet received :", packet.Bytes())
    	}
	}
}

The C server is available here, you can also test it by hand...

$ echo -ne "\xfe\x09\x0\x01\xC8\x00\x0\x0\x0\x0\x0\x0\x0\x0\x0\x5A\x3E" | nc -u 127.0.0.1 14550

##Serial communication (Sending example)

import (
	"github.com/tarm/goserial"
	mav "github.com/Sabmit/go-mavlink"
       "log"
)

func main() {
	port := &serial.Config{Name: "/dev/ttyUSB0", Baud: 57600}
        s, _ := serial.OpenPort(port) // check errors

	message := new(mav.RequestDataStream)
        message.ReqMessageRate = 20

        err := mav.Send(s, 1, 200, message)
        if err != nil {
		log.Fatalf("Error while sending the packet:", err)
	}
}

##More The operation is simple : get the MavParser and then, parse each received byte untill you get a non-nil pointer pointing to the full MavPacket.

Please read main_udp.go and main_serial.go if you want the full code examples.

#TO-DO

  • For now, only the received packet has its own checksum computed on the go
  • Verify if all properties of each message is in its own place (see Mavlink generator)

#See

#Authors

Documentation

Index

Constants

View Source 
const (
	// Generic autopilot, full support for everything
	MAV_AUTOPILOT_GENERIC = 0
	// PIXHAWK autopilot, http://pixhawk.ethz.ch
	MAV_AUTOPILOT_PIXHAWK = 1
	// SLUGS autopilot, http://slugsuav.soe.ucsc.edu
	MAV_AUTOPILOT_SLUGS = 2
	// ArduPilotMega / ArduCopter, http://diydrones.com
	MAV_AUTOPILOT_ARDUPILOTMEGA = 3
	// OpenPilot, http://openpilot.org
	MAV_AUTOPILOT_OPENPILOT = 4
	// Generic autopilot only supporting simple waypoints
	MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY = 5
	// Generic autopilot supporting waypoints and other simple navigation commands
	MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY = 6
	// Generic autopilot supporting the full mission command set
	MAV_AUTOPILOT_GENERIC_MISSION_FULL = 7
	// No valid autopilot, e.g. a GCS or other MAVLink component
	MAV_AUTOPILOT_INVALID = 8
	// PPZ UAV - http://nongnu.org/paparazzi
	MAV_AUTOPILOT_PPZ = 9
	// UAV Dev Board
	MAV_AUTOPILOT_UDB = 10
	// FlexiPilot
	MAV_AUTOPILOT_FP = 11
	// PX4 Autopilot - http://pixhawk.ethz.ch/px4/
	MAV_AUTOPILOT_PX4 = 12
	// SMACCMPilot - http://smaccmpilot.org
	MAV_AUTOPILOT_SMACCMPILOT = 13
	// AutoQuad -- http://autoquad.org
	MAV_AUTOPILOT_AUTOQUAD = 14
	// Armazila -- http://armazila.com
	MAV_AUTOPILOT_ARMAZILA = 15
	// Aerob -- http://aerob.ru
	MAV_AUTOPILOT_AEROB = 16
)

Micro air vehicle / autopilot classes. This identifies the individual model.

View Source 
const (
	// Generic micro air vehicle.
	MAV_TYPE_GENERIC = 0
	// Fixed wing aircraft.
	MAV_TYPE_FIXED_WING = 1
	// Quadrotor
	MAV_TYPE_QUADROTOR = 2
	// Coaxial helicopter
	MAV_TYPE_COAXIAL = 3
	// Normal helicopter with tail rotor.
	MAV_TYPE_HELICOPTER = 4
	// Ground installation
	MAV_TYPE_ANTENNA_TRACKER = 5
	// Operator control unit / ground control station
	MAV_TYPE_GCS = 6
	// Airship, controlled
	MAV_TYPE_AIRSHIP = 7
	// Free balloon, uncontrolled
	MAV_TYPE_FREE_BALLOON = 8
	// Rocket
	MAV_TYPE_ROCKET = 9
	// Ground rover
	MAV_TYPE_GROUND_ROVER = 10
	// Surface vessel, boat, ship
	MAV_TYPE_SURFACE_BOAT = 11
	// Submarine
	MAV_TYPE_SUBMARINE = 12
	// Hexarotor
	MAV_TYPE_HEXAROTOR = 13
	// Octorotor
	MAV_TYPE_OCTOROTOR = 14
	// Octorotor
	MAV_TYPE_TRICOPTER = 15
	// Flapping wing
	MAV_TYPE_FLAPPING_WING = 16
	// Flapping wing
	MAV_TYPE_KITE = 17
)
View Source 
const (
	// 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly.
	MAV_MODE_FLAG_SAFETY_ARMED = 128
	// 0b01000000 remote control input is enabled.
	MAV_MODE_FLAG_MANUAL_INPUT_ENABLED = 64
	// 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
	MAV_MODE_FLAG_HIL_ENABLED = 32
	// 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
	MAV_MODE_FLAG_STABILIZE_ENABLED = 16
	// 0b00001000 guided mode enabled, system flies MISSIONs / mission items.
	MAV_MODE_FLAG_GUIDED_ENABLED = 8
	// 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
	MAV_MODE_FLAG_AUTO_ENABLED = 4
	// 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
	MAV_MODE_FLAG_TEST_ENABLED = 2
	// 0b00000001 Reserved for future use.
	MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
)

These flags encode the MAV mode.

View Source 
const (
	// First bit:  10000000
	MAV_MODE_FLAG_DECODE_POSITION_SAFETY = 128
	// Second bit: 01000000
	MAV_MODE_FLAG_DECODE_POSITION_MANUAL = 64
	// Third bit:  00100000
	MAV_MODE_FLAG_DECODE_POSITION_HIL = 32
	// Fourth bit: 00010000
	MAV_MODE_FLAG_DECODE_POSITION_STABILIZE = 16
	// Fifth bit:  00001000
	MAV_MODE_FLAG_DECODE_POSITION_GUIDED = 8
	// Sixt bit:   00000100
	MAV_MODE_FLAG_DECODE_POSITION_AUTO = 4
	// Seventh bit: 00000010
	MAV_MODE_FLAG_DECODE_POSITION_TEST = 2
	// Eighth bit: 00000001
	MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE = 1
)

These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

View Source 
const (
	// Hold at the current position.
	MAV_GOTO_DO_HOLD = 0
	// Continue with the next item in mission execution.
	MAV_GOTO_DO_CONTINUE = 1
	// Hold at the current position of the system
	MAV_GOTO_HOLD_AT_CURRENT_POSITION = 2
	// Hold at the position specified in the parameters of the DO_HOLD action
	MAV_GOTO_HOLD_AT_SPECIFIED_POSITION = 3
)

Override command, pauses current mission execution and moves immediately to a position

View Source 
const (
	// System is not ready to fly, booting, calibrating, etc. No flag is set.
	MAV_MODE_PREFLIGHT = 0
	// System is allowed to be active, under assisted RC control.
	MAV_MODE_STABILIZE_DISARMED = 80
	// System is allowed to be active, under assisted RC control.
	MAV_MODE_STABILIZE_ARMED = 208
	// System is allowed to be active, under manual (RC) control, no stabilization
	MAV_MODE_MANUAL_DISARMED = 64
	// System is allowed to be active, under manual (RC) control, no stabilization
	MAV_MODE_MANUAL_ARMED = 192
	// System is allowed to be active, under autonomous control, manual setpoint
	MAV_MODE_GUIDED_DISARMED = 88
	// System is allowed to be active, under autonomous control, manual setpoint
	MAV_MODE_GUIDED_ARMED = 216
	// System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs)
	MAV_MODE_AUTO_DISARMED = 92
	// System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs)
	MAV_MODE_AUTO_ARMED = 220
	// UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
	MAV_MODE_TEST_DISARMED = 66
	// UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
	MAV_MODE_TEST_ARMED = 194
)

These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it 

simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.
View Source 
const (
	// Uninitialized system, state is unknown.
	MAV_STATE_UNINIT = 0
	// System is booting up.
	MAV_STATE_BOOT = 1
	// System is calibrating and not flight-ready.
	MAV_STATE_CALIBRATING = 2
	// System is grounded and on standby. It can be launched any time.
	MAV_STATE_STANDBY = 3
	// System is active and might be already airborne. Motors are engaged.
	MAV_STATE_ACTIVE = 4
	// System is in a non-normal flight mode. It can however still navigate.
	MAV_STATE_CRITICAL = 5
	// System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.
	MAV_STATE_EMERGENCY = 6
	// System just initialized its power-down sequence, will shut down now.
	MAV_STATE_POWEROFF = 7
)
View Source 
const (
	MAV_COMP_ID_ALL            = 0
	MAV_COMP_ID_GPS            = 220
	MAV_COMP_ID_MISSIONPLANNER = 190
	MAV_COMP_ID_PATHPLANNER    = 195
	MAV_COMP_ID_MAPPER         = 180
	MAV_COMP_ID_CAMERA         = 100
	MAV_COMP_ID_IMU            = 200
	MAV_COMP_ID_IMU_2          = 201
	MAV_COMP_ID_IMU_3          = 202
	MAV_COMP_ID_UDP_BRIDGE     = 240
	MAV_COMP_ID_UART_BRIDGE    = 241
	MAV_COMP_ID_SYSTEM_CONTROL = 250
	MAV_COMP_ID_SERVO1         = 140
	MAV_COMP_ID_SERVO2         = 141
	MAV_COMP_ID_SERVO3         = 142
	MAV_COMP_ID_SERVO4         = 143
	MAV_COMP_ID_SERVO5         = 144
	MAV_COMP_ID_SERVO6         = 145
	MAV_COMP_ID_SERVO7         = 146
	MAV_COMP_ID_SERVO8         = 147
	MAV_COMP_ID_SERVO9         = 148
	MAV_COMP_ID_SERVO10        = 149
	MAV_COMP_ID_SERVO11        = 150
	MAV_COMP_ID_SERVO12        = 151
	MAV_COMP_ID_SERVO13        = 152
	MAV_COMP_ID_SERVO14        = 153
)
View Source 
const (
	// 0x01 3D gyro
	MAV_SYS_STATUS_SENSOR_3D_GYRO = 1
	// 0x02 3D accelerometer
	MAV_SYS_STATUS_SENSOR_3D_ACCEL = 2
	// 0x04 3D magnetometer
	MAV_SYS_STATUS_SENSOR_3D_MAG = 4
	// 0x08 absolute pressure
	MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE = 8
	// 0x10 differential pressure
	MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE = 16
	// 0x20 GPS
	MAV_SYS_STATUS_SENSOR_GPS = 32
	// 0x40 optical flow
	MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW = 64
	// 0x80 computer vision position
	MAV_SYS_STATUS_SENSOR_VISION_POSITION = 128
	// 0x100 laser based position
	MAV_SYS_STATUS_SENSOR_LASER_POSITION = 256
	// 0x200 external ground truth (Vicon or Leica)
	MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH = 512
	// 0x400 3D angular rate control
	MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL = 1024
	// 0x800 attitude stabilization
	MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION = 2048
	// 0x1000 yaw position
	MAV_SYS_STATUS_SENSOR_YAW_POSITION = 4096
	// 0x2000 z/altitude control
	MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL = 8192
	// 0x4000 x/y position control
	MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL = 16384
	// 0x8000 motor outputs / control
	MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS = 32768
	// 0x10000 rc receiver
	MAV_SYS_STATUS_SENSOR_RC_RECEIVER = 65536
)

These encode the sensors whose status is sent as part of the SYS_STATUS message.

View Source 
const (
	// Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL)
	MAV_FRAME_GLOBAL = 0
	// Local coordinate frame, Z-up (x: north, y: east, z: down).
	MAV_FRAME_LOCAL_NED = 1
	// NOT a coordinate frame, indicates a mission command.
	MAV_FRAME_MISSION = 2
	// Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location.
	MAV_FRAME_GLOBAL_RELATIVE_ALT = 3
	// Local coordinate frame, Z-down (x: east, y: north, z: up)
	MAV_FRAME_LOCAL_ENU = 4
)
View Source 
const (
	MAVLINK_DATA_STREAM_IMG_JPEG = iota
	MAVLINK_DATA_STREAM_IMG_BMP
	MAVLINK_DATA_STREAM_IMG_RAW8U
	MAVLINK_DATA_STREAM_IMG_RAW32U
	MAVLINK_DATA_STREAM_IMG_PGM
	MAVLINK_DATA_STREAM_IMG_PNG
)
View Source 
const (
	// Navigate to MISSION.
	MAV_CMD_NAV_WAYPOINT = 16
	// Loiter around this MISSION an unlimited amount of time
	MAV_CMD_NAV_LOITER_UNLIM = 17
	// Loiter around this MISSION for X turns
	MAV_CMD_NAV_LOITER_TURNS = 18
	// Loiter around this MISSION for X seconds
	MAV_CMD_NAV_LOITER_TIME = 19
	// Return to launch location
	MAV_CMD_NAV_RETURN_TO_LAUNCH = 20
	// Land at location
	MAV_CMD_NAV_LAND = 21
	// Takeoff from ground / hand
	MAV_CMD_NAV_TAKEOFF = 22
	// Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.
	MAV_CMD_NAV_ROI = 80
	// Control autonomous path planning on the MAV.
	MAV_CMD_NAV_PATHPLANNING = 81
	// NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration
	MAV_CMD_NAV_LAST = 95
	// Delay mission state machine.
	MAV_CMD_CONDITION_DELAY = 112
	// Ascend/descend at rate.  Delay mission state machine until desired altitude reached.
	MAV_CMD_CONDITION_CHANGE_ALT = 113
	// Delay mission state machine until within desired distance of next NAV point.
	MAV_CMD_CONDITION_DISTANCE = 114
	// Reach a certain target angle.
	MAV_CMD_CONDITION_YAW = 115
	// NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration
	MAV_CMD_CONDITION_LAST = 159
	// Set system mode.
	MAV_CMD_DO_SET_MODE = 176
	// Jump to the desired command in the mission list.  Repeat this action only the specified number of times
	MAV_CMD_DO_JUMP = 177
	// Change speed and/or throttle set points.
	MAV_CMD_DO_CHANGE_SPEED = 178
	// Changes the home location either to the current location or a specified location.
	MAV_CMD_DO_SET_HOME = 179
	// Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter.
	MAV_CMD_DO_SET_PARAMETER = 180
	// Set a relay to a condition.
	MAV_CMD_DO_SET_RELAY = 181
	// Cycle a relay on and off for a desired number of cyles with a desired period.
	MAV_CMD_DO_REPEAT_RELAY = 182
	// Set a servo to a desired PWM value.
	MAV_CMD_DO_SET_SERVO = 183
	// Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.
	MAV_CMD_DO_REPEAT_SERVO = 184
	// Control onboard camera system.
	MAV_CMD_DO_CONTROL_VIDEO = 200
	// Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.
	MAV_CMD_DO_SET_ROI = 201
	// NOP - This command is only used to mark the upper limit of the DO commands in the enumeration
	MAV_CMD_DO_LAST = 240
	// Trigger calibration. This command will be only accepted if in pre-flight mode.
	MAV_CMD_PREFLIGHT_CALIBRATION = 241
	// Set sensor offsets. This command will be only accepted if in pre-flight mode.
	MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242
	// Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.
	MAV_CMD_PREFLIGHT_STORAGE = 245
	// Request the reboot or shutdown of system components.
	MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246
	// Hold / continue the current action
	MAV_CMD_OVERRIDE_GOTO = 252
	// start running a mission
	MAV_CMD_MISSION_START = 300
	// Arms / Disarms a component
	MAV_CMD_COMPONENT_ARM_DISARM = 400
	// Starts receiver pairing
	MAV_CMD_START_RX_PAIR = 500
)

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.

View Source 
const (
	// Enable all data streams
	MAV_DATA_STREAM_ALL = 0
	// Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.
	MAV_DATA_STREAM_RAW_SENSORS = 1
	// Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
	MAV_DATA_STREAM_EXTENDED_STATUS = 2
	// Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
	MAV_DATA_STREAM_RC_CHANNELS = 3
	// Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.
	MAV_DATA_STREAM_RAW_CONTROLLER = 4
	// Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.
	MAV_DATA_STREAM_POSITION = 6
	// Dependent on the autopilot
	MAV_DATA_STREAM_EXTRA1 = 10
	// Dependent on the autopilot
	MAV_DATA_STREAM_EXTRA2 = 11
	// Dependent on the autopilot
	MAV_DATA_STREAM_EXTRA3 = 12
)

Data stream IDs. A data stream is not a fixed set of messages, but rather a 

recommendation to the autopilot software. Individual autopilots may or may not obey
the recommended messages.
View Source 
const (
	// No region of interest.
	MAV_ROI_NONE = 0
	// Point toward next MISSION.
	MAV_ROI_WPNEXT = 1
	// Point toward given MISSION.
	MAV_ROI_WPINDEX = 2
	// Point toward fixed location.
	MAV_ROI_LOCATION = 3
	// Point toward of given id.
	MAV_ROI_TARGET = 4
)

The ROI (region of interest) for the vehicle. This can be 

be used by the vehicle for camera/vehicle attitude alignment (see
MAV_CMD_NAV_ROI).
View Source 
const (
	// Command / mission item is ok.
	MAV_CMD_ACK_OK = iota
	// Generic error message if none of the other reasons fails or if no detailed error reporting is implemented.
	MAV_CMD_ACK_ERR_FAIL
	// The system is refusing to accept this command from this source / communication partner.
	MAV_CMD_ACK_ERR_ACCESS_DENIED
	// Command or mission item is not supported, other commands would be accepted.
	MAV_CMD_ACK_ERR_NOT_SUPPORTED
	// The coordinate frame of this command / mission item is not supported.
	MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTED
	// The coordinate frame of this command is ok, but he coordinate values exceed the safety limits of this system. This is a generic error, please use the more specific error messages below if possible.
	MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGE
	// The X or latitude value is out of range.
	MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE
	// The Y or longitude value is out of range.
	MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE
	// The Z or altitude value is out of range.
	MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE
)

ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission.

View Source 
const (
	// 8-bit unsigned integer
	MAV_PARAM_TYPE_UINT8 = 1
	// 8-bit signed integer
	MAV_PARAM_TYPE_INT8 = 2
	// 16-bit unsigned integer
	MAV_PARAM_TYPE_UINT16 = 3
	// 16-bit signed integer
	MAV_PARAM_TYPE_INT16 = 4
	// 32-bit unsigned integer
	MAV_PARAM_TYPE_UINT32 = 5
	// 32-bit signed integer
	MAV_PARAM_TYPE_INT32 = 6
	// 64-bit unsigned integer
	MAV_PARAM_TYPE_UINT64 = 7
	// 64-bit signed integer
	MAV_PARAM_TYPE_INT64 = 8
	// 32-bit floating-point
	MAV_PARAM_TYPE_REAL32 = 9
	// 64-bit floating-point
	MAV_PARAM_TYPE_REAL64 = 10
)

Specifies the datatype of a MAVLink parameter.

View Source 
const (
	// Command ACCEPTED and EXECUTED
	MAV_RESULT_ACCEPTED = 0
	// Command TEMPORARY REJECTED/DENIED
	MAV_RESULT_TEMPORARILY_REJECTED = 1
	// Command PERMANENTLY DENIED
	MAV_RESULT_DENIED = 2
	// Command UNKNOWN/UNSUPPORTED
	MAV_RESULT_UNSUPPORTED = 3
	// Command executed, but failed
	MAV_RESULT_FAILED = 4
)

result from a mavlink command

View Source 
const (
	// mission accepted OK
	MAV_MISSION_ACCEPTED = 0
	// generic error / not accepting mission commands at all right now
	MAV_MISSION_ERROR = 1
	// coordinate frame is not supported
	MAV_MISSION_UNSUPPORTED_FRAME = 2
	// command is not supported
	MAV_MISSION_UNSUPPORTED = 3
	// mission item exceeds storage space
	MAV_MISSION_NO_SPACE = 4
	// one of the parameters has an invalid value
	MAV_MISSION_INVALID = 5
	// param1 has an invalid value
	MAV_MISSION_INVALID_PARAM1 = 6
	// param2 has an invalid value
	MAV_MISSION_INVALID_PARAM2 = 7
	// param3 has an invalid value
	MAV_MISSION_INVALID_PARAM3 = 8
	// param4 has an invalid value
	MAV_MISSION_INVALID_PARAM4 = 9
	// x/param5 has an invalid value
	MAV_MISSION_INVALID_PARAM5_X = 10
	// y/param6 has an invalid value
	MAV_MISSION_INVALID_PARAM6_Y = 11
	// param7 has an invalid value
	MAV_MISSION_INVALID_PARAM7 = 12
	// received waypoint out of sequence
	MAV_MISSION_INVALID_SEQUENCE = 13
	// not accepting any mission commands from this communication partner
	MAV_MISSION_DENIED = 14
)

result in a mavlink mission ack

View Source 
const (
	// System is unusable. This is a "panic" condition.
	MAV_SEVERITY_EMERGENCY = 0
	// Action should be taken immediately. Indicates error in non-critical systems.
	MAV_SEVERITY_ALERT = 1
	// Action must be taken immediately. Indicates failure in a primary system.
	MAV_SEVERITY_CRITICAL = 2
	// Indicates an error in secondary/redundant systems.
	MAV_SEVERITY_ERROR = 3
	// Indicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.
	MAV_SEVERITY_WARNING = 4
	// An unusual event has occured, though not an error condition. This should be investigated for the root cause.
	MAV_SEVERITY_NOTICE = 5
	// Normal operational messages. Useful for logging. No action is required for these messages.
	MAV_SEVERITY_INFO = 6
	// Useful non-operational messages that can assist in debugging. These should not occur during normal operation.
	MAV_SEVERITY_DEBUG = 7
)

Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.

Variables

This section is empty.

Functions

func Send 

func Send(writer io.Writer, systemID, componentID uint8, message Message) error

Create a MavPacket, and write it on the writer

Types

type Attitude 

type Attitude struct {
	TimeBootMs uint32  // Timestamp (milliseconds since system boot)
	Roll       float32 // Roll angle (rad, -pi..+pi)
	Pitch      float32 // Pitch angle (rad, -pi..+pi)
	Yaw        float32 // Yaw angle (rad, -pi..+pi)
	Rollspeed  float32 // Roll angular speed (rad/s)
	Pitchspeed float32 // Pitch angular speed (rad/s)
	Yawspeed   float32 // Yaw angular speed (rad/s)
}

The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right).

func (*Attitude) ID 

func (self *Attitude) ID() uint8

func (*Attitude) Size 

func (self *Attitude) Size() uint8

type AttitudeQuaternion 

type AttitudeQuaternion struct {
	TimeBootMs uint32  // Timestamp (milliseconds since system boot)
	Q1         float32 // Quaternion component 1
	Q2         float32 // Quaternion component 2
	Q3         float32 // Quaternion component 3
	Q4         float32 // Quaternion component 4
	Rollspeed  float32 // Roll angular speed (rad/s)
	Pitchspeed float32 // Pitch angular speed (rad/s)
	Yawspeed   float32 // Yaw angular speed (rad/s)
}

The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion.

func (*AttitudeQuaternion) ID 

func (self *AttitudeQuaternion) ID() uint8

func (*AttitudeQuaternion) Size 

func (self *AttitudeQuaternion) Size() uint8

type AuthKey 

type AuthKey struct {
	Key [32]byte // key
}

Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.

func (*AuthKey) ID 

func (self *AuthKey) ID() uint8

func (*AuthKey) Size 

func (self *AuthKey) Size() uint8

type BatteryStatus 

type BatteryStatus struct {
	CurrentConsumed  int32  // Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
	EnergyConsumed   int32  // Consumed energy, in 100*Joules (intergrated U*I*dt)  (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
	VoltageCell1     uint16 // Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
	VoltageCell2     uint16 // Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
	VoltageCell3     uint16 // Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
	VoltageCell4     uint16 // Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
	VoltageCell5     uint16 // Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
	VoltageCell6     uint16 // Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
	CurrentBattery   int16  // Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
	AccuId           uint8  // Accupack ID
	BatteryRemaining int8   // Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
}

Transmitte battery informations for a accu pack.

func (*BatteryStatus) ID 

func (self *BatteryStatus) ID() uint8

func (*BatteryStatus) Size 

func (self *BatteryStatus) Size() uint8

type ChangeOperatorControl 

type ChangeOperatorControl struct {
	TargetSystem   uint8    // System the GCS requests control for
	ControlRequest uint8    // 0: request control of this MAV, 1: Release control of this MAV
	Version        uint8    // 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
	Passkey        [25]byte // Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
}

Request to control this MAV

func (*ChangeOperatorControl) ID 

func (self *ChangeOperatorControl) ID() uint8

func (*ChangeOperatorControl) Size 

func (self *ChangeOperatorControl) Size() uint8

type ChangeOperatorControlAck 

type ChangeOperatorControlAck struct {
	GcsSystemId    uint8 // ID of the GCS this message
	ControlRequest uint8 // 0: request control of this MAV, 1: Release control of this MAV
	Ack            uint8 // 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
}

Accept / deny control of this MAV

func (*ChangeOperatorControlAck) ID 

func (self *ChangeOperatorControlAck) ID() uint8

func (*ChangeOperatorControlAck) Size 

func (self *ChangeOperatorControlAck) Size() uint8

type CommandAck 

type CommandAck struct {
	Command uint16 // Command ID, as defined by MAV_CMD enum.
	Result  uint8  // See MAV_RESULT enum
}

Report status of a command. Includes feedback wether the command was executed.

func (*CommandAck) ID 

func (self *CommandAck) ID() uint8

func (*CommandAck) Size 

func (self *CommandAck) Size() uint8

type CommandLong 

type CommandLong struct {
	Param1          float32 // Parameter 1, as defined by MAV_CMD enum.
	Param2          float32 // Parameter 2, as defined by MAV_CMD enum.
	Param3          float32 // Parameter 3, as defined by MAV_CMD enum.
	Param4          float32 // Parameter 4, as defined by MAV_CMD enum.
	Param5          float32 // Parameter 5, as defined by MAV_CMD enum.
	Param6          float32 // Parameter 6, as defined by MAV_CMD enum.
	Param7          float32 // Parameter 7, as defined by MAV_CMD enum.
	Command         uint16  // Command ID, as defined by MAV_CMD enum.
	TargetSystem    uint8   // System which should execute the command
	TargetComponent uint8   // Component which should execute the command, 0 for all components
	Confirmation    uint8   // 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
}

Send a command with up to seven parameters to the MAV

func (*CommandLong) ID 

func (self *CommandLong) ID() uint8

func (*CommandLong) Size 

func (self *CommandLong) Size() uint8

type DataStream 

type DataStream struct {
	MessageRate uint16 // The requested interval between two messages of this type
	StreamId    uint8  // The ID of the requested data stream
	OnOff       uint8  // 1 stream is enabled, 0 stream is stopped.
}

func (*DataStream) ID 

func (self *DataStream) ID() uint8

func (*DataStream) Size 

func (self *DataStream) Size() uint8

type Debug 

type Debug struct {
	TimeBootMs uint32  // Timestamp (milliseconds since system boot)
	Value      float32 // DEBUG value
	Ind        uint8   // index of debug variable
}

Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.

func (*Debug) ID 

func (self *Debug) ID() uint8

func (*Debug) Size 

func (self *Debug) Size() uint8

type DebugVect 

type DebugVect struct {
	TimeUsec uint64   // Timestamp
	X        float32  // x
	Y        float32  // y
	Z        float32  // z
	Name     [10]byte // Name
}

func (*DebugVect) ID 

func (self *DebugVect) ID() uint8

func (*DebugVect) Size 

func (self *DebugVect) Size() uint8

type ErrInvalidChecksum 

type ErrInvalidChecksum uint16

func (ErrInvalidChecksum) Error 

func (self ErrInvalidChecksum) Error() string

type ErrInvalidPayloadLength 

type ErrInvalidPayloadLength uint8

func (ErrInvalidPayloadLength) Error 

func (self ErrInvalidPayloadLength) Error() string

type ErrInvalidStartframe 

type ErrInvalidStartframe uint8

func (ErrInvalidStartframe) Error 

func (self ErrInvalidStartframe) Error() string

type ErrUnknownMessageID 

type ErrUnknownMessageID uint8

func (ErrUnknownMessageID) Error 

func (self ErrUnknownMessageID) Error() string

type FileTransferDirList 

type FileTransferDirList struct {
	TransferUid uint64    // Unique transfer ID
	DirPath     [240]byte // Directory path to list
	Flags       uint8     // RESERVED
}

Get directory listing

func (*FileTransferDirList) ID 

func (self *FileTransferDirList) ID() uint8

func (*FileTransferDirList) Size 

func (self *FileTransferDirList) Size() uint8

type FileTransferRes 

type FileTransferRes struct {
	TransferUid uint64 // Unique transfer ID
	Result      uint8  // 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device
}

File transfer result

func (*FileTransferRes) ID 

func (self *FileTransferRes) ID() uint8

func (*FileTransferRes) Size 

func (self *FileTransferRes) Size() uint8

type FileTransferStart 

type FileTransferStart struct {
	TransferUid uint64    // Unique transfer ID
	FileSize    uint32    // File size in bytes
	DestPath    [240]byte // Destination path
	Direction   uint8     // Transfer direction: 0: from requester, 1: to requester
	Flags       uint8     // RESERVED
}

Begin file transfer

func (*FileTransferStart) ID 

func (self *FileTransferStart) ID() uint8

func (*FileTransferStart) Size 

func (self *FileTransferStart) Size() uint8

type GlobalPositionInt 

type GlobalPositionInt struct {
	TimeBootMs  uint32 // Timestamp (milliseconds since system boot)
	Lat         int32  // Latitude, expressed as * 1E7
	Lon         int32  // Longitude, expressed as * 1E7
	Alt         int32  // Altitude in meters, expressed as * 1000 (millimeters), above MSL
	RelativeAlt int32  // Altitude above ground in meters, expressed as * 1000 (millimeters)
	Vx          int16  // Ground X Speed (Latitude), expressed as m/s * 100
	Vy          int16  // Ground Y Speed (Longitude), expressed as m/s * 100
	Vz          int16  // Ground Z Speed (Altitude), expressed as m/s * 100
	Hdg         uint16 // Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
}

The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It 

is designed as scaled integer message since the resolution of float is not sufficient.

func (*GlobalPositionInt) ID 

func (self *GlobalPositionInt) ID() uint8

func (*GlobalPositionInt) Size 

func (self *GlobalPositionInt) Size() uint8

type GlobalPositionSetpointInt 

type GlobalPositionSetpointInt struct {
	Latitude        int32 // Latitude (WGS84), in degrees * 1E7
	Longitude       int32 // Longitude (WGS84), in degrees * 1E7
	Altitude        int32 // Altitude (WGS84), in meters * 1000 (positive for up)
	Yaw             int16 // Desired yaw angle in degrees * 100
	CoordinateFrame uint8 // Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
}

Transmit the current local setpoint of the controller to other MAVs (collision avoidance) and to the GCS.

func (*GlobalPositionSetpointInt) ID 

func (self *GlobalPositionSetpointInt) ID() uint8

func (*GlobalPositionSetpointInt) Size 

func (self *GlobalPositionSetpointInt) Size() uint8

type GlobalVisionPositionEstimate 

type GlobalVisionPositionEstimate struct {
	Usec  uint64  // Timestamp (microseconds, synced to UNIX time or since system boot)
	X     float32 // Global X position
	Y     float32 // Global Y position
	Z     float32 // Global Z position
	Roll  float32 // Roll angle in rad
	Pitch float32 // Pitch angle in rad
	Yaw   float32 // Yaw angle in rad
}

func (*GlobalVisionPositionEstimate) ID 

func (self *GlobalVisionPositionEstimate) ID() uint8

func (*GlobalVisionPositionEstimate) Size 

func (self *GlobalVisionPositionEstimate) Size() uint8

type GpsGlobalOrigin 

type GpsGlobalOrigin struct {
	Latitude  int32 // Latitude (WGS84), in degrees * 1E7
	Longitude int32 // Longitude (WGS84), in degrees * 1E7
	Altitude  int32 // Altitude (WGS84), in meters * 1000 (positive for up)
}

Once the MAV sets a new GPS-Local correspondence, this message announces the origin (0,0,0) position

func (*GpsGlobalOrigin) ID 

func (self *GpsGlobalOrigin) ID() uint8

func (*GpsGlobalOrigin) Size 

func (self *GpsGlobalOrigin) Size() uint8

type GpsRawInt 

type GpsRawInt struct {
	TimeUsec          uint64 // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
	Lat               int32  // Latitude (WGS84), in degrees * 1E7
	Lon               int32  // Longitude (WGS84), in degrees * 1E7
	Alt               int32  // Altitude (WGS84), in meters * 1000 (positive for up)
	Eph               uint16 // GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
	Epv               uint16 // GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
	Vel               uint16 // GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
	Cog               uint16 // Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
	FixType           uint8  // 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
	SatellitesVisible uint8  // Number of satellites visible. If unknown, set to 255
}

The global position, as returned by the Global Positioning System (GPS). This is 

NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame).

func (*GpsRawInt) ID 

func (self *GpsRawInt) ID() uint8

func (*GpsRawInt) Size 

func (self *GpsRawInt) Size() uint8

type GpsStatus 

type GpsStatus struct {
	SatellitesVisible  uint8     // Number of satellites visible
	SatellitePrn       [20]uint8 // Global satellite ID
	SatelliteUsed      [20]uint8 // 0: Satellite not used, 1: used for localization
	SatelliteElevation [20]uint8 // Elevation (0: right on top of receiver, 90: on the horizon) of satellite
	SatelliteAzimuth   [20]uint8 // Direction of satellite, 0: 0 deg, 255: 360 deg.
	SatelliteSnr       [20]uint8 // Signal to noise ratio of satellite
}

The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION for the global position estimate. This message can contain information for up to 20 satellites.

func (*GpsStatus) ID 

func (self *GpsStatus) ID() uint8

func (*GpsStatus) Size 

func (self *GpsStatus) Size() uint8

type Heartbeat 

type Heartbeat struct {
	CustomMode     uint32 // A bitfield for use for autopilot-specific flags.
	Type           uint8  // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
	Autopilot      uint8  // Autopilot type / class. defined in MAV_AUTOPILOT ENUM
	BaseMode       uint8  // System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
	SystemStatus   uint8  // System status flag, see MAV_STATE ENUM
	MavlinkVersion uint8  // MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
}

The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot).

func (*Heartbeat) ID 

func (self *Heartbeat) ID() uint8

func (*Heartbeat) Size 

func (self *Heartbeat) Size() uint8

type HighresImu 

type HighresImu struct {
	TimeUsec      uint64  // Timestamp (microseconds, synced to UNIX time or since system boot)
	Xacc          float32 // X acceleration (m/s^2)
	Yacc          float32 // Y acceleration (m/s^2)
	Zacc          float32 // Z acceleration (m/s^2)
	Xgyro         float32 // Angular speed around X axis (rad / sec)
	Ygyro         float32 // Angular speed around Y axis (rad / sec)
	Zgyro         float32 // Angular speed around Z axis (rad / sec)
	Xmag          float32 // X Magnetic field (Gauss)
	Ymag          float32 // Y Magnetic field (Gauss)
	Zmag          float32 // Z Magnetic field (Gauss)
	AbsPressure   float32 // Absolute pressure in millibar
	DiffPressure  float32 // Differential pressure in millibar
	PressureAlt   float32 // Altitude calculated from pressure
	Temperature   float32 // Temperature in degrees celsius
	FieldsUpdated uint16  // Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
}

The IMU readings in SI units in NED body frame

func (*HighresImu) ID 

func (self *HighresImu) ID() uint8

func (*HighresImu) Size 

func (self *HighresImu) Size() uint8

type HilControls 

type HilControls struct {
	TimeUsec      uint64  // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
	RollAilerons  float32 // Control output -1 .. 1
	PitchElevator float32 // Control output -1 .. 1
	YawRudder     float32 // Control output -1 .. 1
	Throttle      float32 // Throttle 0 .. 1
	Aux1          float32 // Aux 1, -1 .. 1
	Aux2          float32 // Aux 2, -1 .. 1
	Aux3          float32 // Aux 3, -1 .. 1
	Aux4          float32 // Aux 4, -1 .. 1
	Mode          uint8   // System mode (MAV_MODE)
	NavMode       uint8   // Navigation mode (MAV_NAV_MODE)
}

Sent from autopilot to simulation. Hardware in the loop control outputs

func (*HilControls) ID 

func (self *HilControls) ID() uint8

func (*HilControls) Size 

func (self *HilControls) Size() uint8

type HilGps 

type HilGps struct {
	TimeUsec          uint64 // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
	Lat               int32  // Latitude (WGS84), in degrees * 1E7
	Lon               int32  // Longitude (WGS84), in degrees * 1E7
	Alt               int32  // Altitude (WGS84), in meters * 1000 (positive for up)
	Eph               uint16 // GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
	Epv               uint16 // GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
	Vel               uint16 // GPS ground speed (m/s * 100). If unknown, set to: 65535
	Vn                int16  // GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
	Ve                int16  // GPS velocity in cm/s in EAST direction in earth-fixed NED frame
	Vd                int16  // GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
	Cog               uint16 // Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
	FixType           uint8  // 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
	SatellitesVisible uint8  // Number of satellites visible. If unknown, set to 255
}

The global position, as returned by the Global Positioning System (GPS). This is 

NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame).

func (*HilGps) ID 

func (self *HilGps) ID() uint8

func (*HilGps) Size 

func (self *HilGps) Size() uint8

type HilOpticalFlow 

type HilOpticalFlow struct {
	TimeUsec       uint64  // Timestamp (UNIX)
	FlowCompMX     float32 // Flow in meters in x-sensor direction, angular-speed compensated
	FlowCompMY     float32 // Flow in meters in y-sensor direction, angular-speed compensated
	GroundDistance float32 // Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
	FlowX          int16   // Flow in pixels in x-sensor direction
	FlowY          int16   // Flow in pixels in y-sensor direction
	SensorId       uint8   // Sensor ID
	Quality        uint8   // Optical flow quality / confidence. 0: bad, 255: maximum quality
}

Simulated optical flow from a flow sensor (e.g. optical mouse sensor)

func (*HilOpticalFlow) ID 

func (self *HilOpticalFlow) ID() uint8

func (*HilOpticalFlow) Size 

func (self *HilOpticalFlow) Size() uint8

type HilRcInputsRaw 

type HilRcInputsRaw struct {
	TimeUsec  uint64 // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
	Chan1Raw  uint16 // RC channel 1 value, in microseconds
	Chan2Raw  uint16 // RC channel 2 value, in microseconds
	Chan3Raw  uint16 // RC channel 3 value, in microseconds
	Chan4Raw  uint16 // RC channel 4 value, in microseconds
	Chan5Raw  uint16 // RC channel 5 value, in microseconds
	Chan6Raw  uint16 // RC channel 6 value, in microseconds
	Chan7Raw  uint16 // RC channel 7 value, in microseconds
	Chan8Raw  uint16 // RC channel 8 value, in microseconds
	Chan9Raw  uint16 // RC channel 9 value, in microseconds
	Chan10Raw uint16 // RC channel 10 value, in microseconds
	Chan11Raw uint16 // RC channel 11 value, in microseconds
	Chan12Raw uint16 // RC channel 12 value, in microseconds
	Rssi      uint8  // Receive signal strength indicator, 0: 0%, 255: 100%
}

Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.

func (*HilRcInputsRaw) ID 

func (self *HilRcInputsRaw) ID() uint8

func (*HilRcInputsRaw) Size 

func (self *HilRcInputsRaw) Size() uint8

type HilSensor 

type HilSensor struct {
	TimeUsec      uint64  // Timestamp (microseconds, synced to UNIX time or since system boot)
	Xacc          float32 // X acceleration (m/s^2)
	Yacc          float32 // Y acceleration (m/s^2)
	Zacc          float32 // Z acceleration (m/s^2)
	Xgyro         float32 // Angular speed around X axis in body frame (rad / sec)
	Ygyro         float32 // Angular speed around Y axis in body frame (rad / sec)
	Zgyro         float32 // Angular speed around Z axis in body frame (rad / sec)
	Xmag          float32 // X Magnetic field (Gauss)
	Ymag          float32 // Y Magnetic field (Gauss)
	Zmag          float32 // Z Magnetic field (Gauss)
	AbsPressure   float32 // Absolute pressure in millibar
	DiffPressure  float32 // Differential pressure (airspeed) in millibar
	PressureAlt   float32 // Altitude calculated from pressure
	Temperature   float32 // Temperature in degrees celsius
	FieldsUpdated uint32  // Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
}

The IMU readings in SI units in NED body frame

func (*HilSensor) ID 

func (self *HilSensor) ID() uint8

func (*HilSensor) Size 

func (self *HilSensor) Size() uint8

type HilState 

type HilState struct {
	TimeUsec   uint64  // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
	Roll       float32 // Roll angle (rad)
	Pitch      float32 // Pitch angle (rad)
	Yaw        float32 // Yaw angle (rad)
	Rollspeed  float32 // Body frame roll / phi angular speed (rad/s)
	Pitchspeed float32 // Body frame pitch / theta angular speed (rad/s)
	Yawspeed   float32 // Body frame yaw / psi angular speed (rad/s)
	Lat        int32   // Latitude, expressed as * 1E7
	Lon        int32   // Longitude, expressed as * 1E7
	Alt        int32   // Altitude in meters, expressed as * 1000 (millimeters)
	Vx         int16   // Ground X Speed (Latitude), expressed as m/s * 100
	Vy         int16   // Ground Y Speed (Longitude), expressed as m/s * 100
	Vz         int16   // Ground Z Speed (Altitude), expressed as m/s * 100
	Xacc       int16   // X acceleration (mg)
	Yacc       int16   // Y acceleration (mg)
	Zacc       int16   // Z acceleration (mg)
}

DEPRECATED PACKET! Suffers from missing airspeed fields and singularities due to Euler angles. Please use HIL_STATE_QUATERNION instead. Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.

func (*HilState) ID 

func (self *HilState) ID() uint8

func (*HilState) Size 

func (self *HilState) Size() uint8

type HilStateQuaternion 

type HilStateQuaternion struct {
	TimeUsec           uint64     // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
	AttitudeQuaternion [4]float32 // Vehicle attitude expressed as normalized quaternion
	Rollspeed          float32    // Body frame roll / phi angular speed (rad/s)
	Pitchspeed         float32    // Body frame pitch / theta angular speed (rad/s)
	Yawspeed           float32    // Body frame yaw / psi angular speed (rad/s)
	Lat                int32      // Latitude, expressed as * 1E7
	Lon                int32      // Longitude, expressed as * 1E7
	Alt                int32      // Altitude in meters, expressed as * 1000 (millimeters)
	Vx                 int16      // Ground X Speed (Latitude), expressed as m/s * 100
	Vy                 int16      // Ground Y Speed (Longitude), expressed as m/s * 100
	Vz                 int16      // Ground Z Speed (Altitude), expressed as m/s * 100
	IndAirspeed        uint16     // Indicated airspeed, expressed as m/s * 100
	TrueAirspeed       uint16     // True airspeed, expressed as m/s * 100
	Xacc               int16      // X acceleration (mg)
	Yacc               int16      // Y acceleration (mg)
	Zacc               int16      // Z acceleration (mg)
}

Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.

func (*HilStateQuaternion) ID 

func (self *HilStateQuaternion) ID() uint8

func (*HilStateQuaternion) Size 

func (self *HilStateQuaternion) Size() uint8

type LocalPositionNed 

type LocalPositionNed struct {
	TimeBootMs uint32  // Timestamp (milliseconds since system boot)
	X          float32 // X Position
	Y          float32 // Y Position
	Z          float32 // Z Position
	Vx         float32 // X Speed
	Vy         float32 // Y Speed
	Vz         float32 // Z Speed
}

The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

func (*LocalPositionNed) ID 

func (self *LocalPositionNed) ID() uint8

func (*LocalPositionNed) Size 

func (self *LocalPositionNed) Size() uint8

type LocalPositionNedSystemGlobalOffset 

type LocalPositionNedSystemGlobalOffset struct {
	TimeBootMs uint32  // Timestamp (milliseconds since system boot)
	X          float32 // X Position
	Y          float32 // Y Position
	Z          float32 // Z Position
	Roll       float32 // Roll
	Pitch      float32 // Pitch
	Yaw        float32 // Yaw
}

The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

func (*LocalPositionNedSystemGlobalOffset) ID 

func (self *LocalPositionNedSystemGlobalOffset) ID() uint8

func (*LocalPositionNedSystemGlobalOffset) Size 

func (self *LocalPositionNedSystemGlobalOffset) Size() uint8

type LocalPositionSetpoint 

type LocalPositionSetpoint struct {
	X               float32 // x position
	Y               float32 // y position
	Z               float32 // z position
	Yaw             float32 // Desired yaw angle
	CoordinateFrame uint8   // Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
}

Transmit the current local setpoint of the controller to other MAVs (collision avoidance) and to the GCS.

func (*LocalPositionSetpoint) ID 

func (self *LocalPositionSetpoint) ID() uint8

func (*LocalPositionSetpoint) Size 

func (self *LocalPositionSetpoint) Size() uint8

type ManualControl 

type ManualControl struct {
	X       int16  // X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
	Y       int16  // Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
	Z       int16  // Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
	R       int16  // R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
	Buttons uint16 // A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
	Target  uint8  // The system to be controlled.
}

This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled an buttons are also transmit as boolean values of their

func (*ManualControl) ID 

func (self *ManualControl) ID() uint8

func (*ManualControl) Size 

func (self *ManualControl) Size() uint8

type ManualSetpoint 

type ManualSetpoint struct {
	TimeBootMs           uint32  // Timestamp in milliseconds since system boot
	Roll                 float32 // Desired roll rate in radians per second
	Pitch                float32 // Desired pitch rate in radians per second
	Yaw                  float32 // Desired yaw rate in radians per second
	Thrust               float32 // Collective thrust, normalized to 0 .. 1
	ModeSwitch           uint8   // Flight mode switch position, 0.. 255
	ManualOverrideSwitch uint8   // Override mode switch position, 0.. 255
}

Setpoint in roll, pitch, yaw and thrust from the operator

func (*ManualSetpoint) ID 

func (self *ManualSetpoint) ID() uint8

func (*ManualSetpoint) Size 

func (self *ManualSetpoint) Size() uint8

type MavHeader 

type MavHeader struct {
	FrameStart     uint8
	PayloadLength  uint8
	PacketSequence uint8
	SystemID       uint8
	ComponentID    uint8
	MessageID      uint8
}

func (*MavHeader) Size 

func (this *MavHeader) Size() uint8

type MavPacket 

type MavPacket struct {
	Header   MavHeader
	Msg      Message
	Checksum uint16
}

func CreatePacket 

func CreatePacket(systemID, componentID uint8, message Message) (*MavPacket, error)

Create a MavPacket then compute the checksum. TODO : compute the checksum on the go

func (*MavPacket) Bytes 

func (this *MavPacket) Bytes() []byte

type MavPacketInternal 

type MavPacketInternal struct {
	// contains filtered or unexported fields
}

type MavPacketManager 

type MavPacketManager struct {
	// contains filtered or unexported fields
}

*

  • Simply incr the packet sequence

type MemoryVect 

type MemoryVect struct {
	Address uint16   // Starting address of the debug variables
	Ver     uint8    // Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
	Type    uint8    // Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
	Value   [32]int8 // Memory contents at specified address
}

Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

func (*MemoryVect) ID 

func (self *MemoryVect) ID() uint8

func (*MemoryVect) Size 

func (self *MemoryVect) Size() uint8

type Message 

type Message interface {
	ID() uint8
	Size() uint8
}

type MissionAck 

type MissionAck struct {
	TargetSystem    uint8 // System ID
	TargetComponent uint8 // Component ID
	Type            uint8 // See MAV_MISSION_RESULT enum
}

Ack message during MISSION handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).

func (*MissionAck) ID 

func (self *MissionAck) ID() uint8

func (*MissionAck) Size 

func (self *MissionAck) Size() uint8

type MissionClearAll 

type MissionClearAll struct {
	TargetSystem    uint8 // System ID
	TargetComponent uint8 // Component ID
}

Delete all mission items at once.

func (*MissionClearAll) ID 

func (self *MissionClearAll) ID() uint8

func (*MissionClearAll) Size 

func (self *MissionClearAll) Size() uint8

type MissionCount 

type MissionCount struct {
	Count           uint16 // Number of mission items in the sequence
	TargetSystem    uint8  // System ID
	TargetComponent uint8  // Component ID
}

This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of MISSIONs.

func (*MissionCount) ID 

func (self *MissionCount) ID() uint8

func (*MissionCount) Size 

func (self *MissionCount) Size() uint8

type MissionCurrent 

type MissionCurrent struct {
	Seq uint16 // Sequence
}

Message that announces the sequence number of the current active mission item. The MAV will fly towards this mission item.

func (*MissionCurrent) ID 

func (self *MissionCurrent) ID() uint8

func (*MissionCurrent) Size 

func (self *MissionCurrent) Size() uint8

type MissionItem 

type MissionItem struct {
	Param1          float32 // PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
	Param2          float32 // PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
	Param3          float32 // PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
	Param4          float32 // PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
	X               float32 // PARAM5 / local: x position, global: latitude
	Y               float32 // PARAM6 / y position: global: longitude
	Z               float32 // PARAM7 / z position: global: altitude
	Seq             uint16  // Sequence
	Command         uint16  // The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
	TargetSystem    uint8   // System ID
	TargetComponent uint8   // Component ID
	Frame           uint8   // The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
	Current         uint8   // false:0, true:1
	Autocontinue    uint8   // autocontinue to next wp
}

Message encoding a mission item. This message is emitted to announce 

the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). See also http://qgroundcontrol.org/mavlink/waypoint_protocol.

func (*MissionItem) ID 

func (self *MissionItem) ID() uint8

func (*MissionItem) Size 

func (self *MissionItem) Size() uint8

type MissionItemReached 

type MissionItemReached struct {
	Seq uint16 // Sequence
}

A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next MISSION.

func (*MissionItemReached) ID 

func (self *MissionItemReached) ID() uint8

func (*MissionItemReached) Size 

func (self *MissionItemReached) Size() uint8

type MissionRequest 

type MissionRequest struct {
	Seq             uint16 // Sequence
	TargetSystem    uint8  // System ID
	TargetComponent uint8  // Component ID
}

Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. http://qgroundcontrol.org/mavlink/waypoint_protocol

func (*MissionRequest) ID 

func (self *MissionRequest) ID() uint8

func (*MissionRequest) Size 

func (self *MissionRequest) Size() uint8

type MissionRequestList 

type MissionRequestList struct {
	TargetSystem    uint8 // System ID
	TargetComponent uint8 // Component ID
}

Request the overall list of mission items from the system/component.

func (*MissionRequestList) ID 

func (self *MissionRequestList) ID() uint8

func (*MissionRequestList) Size 

func (self *MissionRequestList) Size() uint8

type MissionRequestPartialList 

type MissionRequestPartialList struct {
	StartIndex      int16 // Start index, 0 by default
	EndIndex        int16 // End index, -1 by default (-1: send list to end). Else a valid index of the list
	TargetSystem    uint8 // System ID
	TargetComponent uint8 // Component ID
}

Request a partial list of mission items from the system/component. http://qgroundcontrol.org/mavlink/waypoint_protocol. If start and end index are the same, just send one waypoint.

func (*MissionRequestPartialList) ID 

func (self *MissionRequestPartialList) ID() uint8

func (*MissionRequestPartialList) Size 

func (self *MissionRequestPartialList) Size() uint8

type MissionSetCurrent 

type MissionSetCurrent struct {
	Seq             uint16 // Sequence
	TargetSystem    uint8  // System ID
	TargetComponent uint8  // Component ID
}

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).

func (*MissionSetCurrent) ID 

func (self *MissionSetCurrent) ID() uint8

func (*MissionSetCurrent) Size 

func (self *MissionSetCurrent) Size() uint8

type MissionWritePartialList 

type MissionWritePartialList struct {
	StartIndex      int16 // Start index, 0 by default and smaller / equal to the largest index of the current onboard list.
	EndIndex        int16 // End index, equal or greater than start index.
	TargetSystem    uint8 // System ID
	TargetComponent uint8 // Component ID
}

This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!

func (*MissionWritePartialList) ID 

func (self *MissionWritePartialList) ID() uint8

func (*MissionWritePartialList) Size 

func (self *MissionWritePartialList) Size() uint8

type NamedValueFloat 

type NamedValueFloat struct {
	TimeBootMs uint32   // Timestamp (milliseconds since system boot)
	Value      float32  // Floating point value
	Name       [10]byte // Name of the debug variable
}

Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

func (*NamedValueFloat) ID 

func (self *NamedValueFloat) ID() uint8

func (*NamedValueFloat) Size 

func (self *NamedValueFloat) Size() uint8

type NamedValueInt 

type NamedValueInt struct {
	TimeBootMs uint32   // Timestamp (milliseconds since system boot)
	Value      int32    // Signed integer value
	Name       [10]byte // Name of the debug variable
}

Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

func (*NamedValueInt) ID 

func (self *NamedValueInt) ID() uint8

func (*NamedValueInt) Size 

func (self *NamedValueInt) Size() uint8
type NavControllerOutput struct {
	NavRoll       float32 // Current desired roll in degrees
	NavPitch      float32 // Current desired pitch in degrees
	AltError      float32 // Current altitude error in meters
	AspdError     float32 // Current airspeed error in meters/second
	XtrackError   float32 // Current crosstrack error on x-y plane in meters
	NavBearing    int16   // Current desired heading in degrees
	TargetBearing int16   // Bearing to current MISSION/target in degrees
	WpDist        uint16  // Distance to active MISSION in meters
}

Outputs of the APM navigation controller. The primary use of this message is to check the response and signs of the controller before actual flight and to assist with tuning controller parameters. 

func (self *NavControllerOutput) ID() uint8
func (self *NavControllerOutput) Size() uint8

type OmnidirectionalFlow 

type OmnidirectionalFlow struct {
	TimeUsec       uint64    // Timestamp (microseconds, synced to UNIX time or since system boot)
	FrontDistanceM float32   // Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance
	Left           [10]int16 // Flow in deci pixels (1 = 0.1 pixel) on left hemisphere
	Right          [10]int16 // Flow in deci pixels (1 = 0.1 pixel) on right hemisphere
	SensorId       uint8     // Sensor ID
	Quality        uint8     // Optical flow quality / confidence. 0: bad, 255: maximum quality
}

Optical flow from an omnidirectional flow sensor (e.g. PX4FLOW with wide angle lens)

func (*OmnidirectionalFlow) ID 

func (self *OmnidirectionalFlow) ID() uint8

func (*OmnidirectionalFlow) Size 

func (self *OmnidirectionalFlow) Size() uint8

type OpticalFlow 

type OpticalFlow struct {
	TimeUsec       uint64  // Timestamp (UNIX)
	FlowCompMX     float32 // Flow in meters in x-sensor direction, angular-speed compensated
	FlowCompMY     float32 // Flow in meters in y-sensor direction, angular-speed compensated
	GroundDistance float32 // Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
	FlowX          int16   // Flow in pixels * 10 in x-sensor direction (dezi-pixels)
	FlowY          int16   // Flow in pixels * 10 in y-sensor direction (dezi-pixels)
	SensorId       uint8   // Sensor ID
	Quality        uint8   // Optical flow quality / confidence. 0: bad, 255: maximum quality
}

Optical flow from a flow sensor (e.g. optical mouse sensor)

func (*OpticalFlow) ID 

func (self *OpticalFlow) ID() uint8

func (*OpticalFlow) Size 

func (self *OpticalFlow) Size() uint8

type PacketSequenceFunc 

type PacketSequenceFunc func() uint8

type ParamRequestList 

type ParamRequestList struct {
	TargetSystem    uint8 // System ID
	TargetComponent uint8 // Component ID
}

Request all parameters of this component. After his request, all parameters are emitted.

func (*ParamRequestList) ID 

func (self *ParamRequestList) ID() uint8

func (*ParamRequestList) Size 

func (self *ParamRequestList) Size() uint8

type ParamRequestRead 

type ParamRequestRead struct {
	ParamIndex      int16    // Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
	TargetSystem    uint8    // System ID
	TargetComponent uint8    // Component ID
	ParamId         [16]byte // Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
}

Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also http://qgroundcontrol.org/parameter_interface for a full documentation of QGroundControl and IMU code.

func (*ParamRequestRead) ID 

func (self *ParamRequestRead) ID() uint8

func (*ParamRequestRead) Size 

func (self *ParamRequestRead) Size() uint8

type ParamSet 

type ParamSet struct {
	ParamValue      float32  // Onboard parameter value
	TargetSystem    uint8    // System ID
	TargetComponent uint8    // Component ID
	ParamId         [16]byte // Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
	ParamType       uint8    // Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
}

Set a parameter value TEMPORARILY to RAM. It will be reset to default on system reboot. Send the ACTION MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM contents to EEPROM. IMPORTANT: The receiving component should acknowledge the new parameter value by sending a param_value message to all communication partners. This will also ensure that multiple GCS all have an up-to-date list of all parameters. If the sending GCS did not receive a PARAM_VALUE message within its timeout time, it should re-send the PARAM_SET message.

func (*ParamSet) ID 

func (self *ParamSet) ID() uint8

func (*ParamSet) Size 

func (self *ParamSet) Size() uint8

type ParamValue 

type ParamValue struct {
	ParamValue float32  // Onboard parameter value
	ParamCount uint16   // Total number of onboard parameters
	ParamIndex uint16   // Index of this onboard parameter
	ParamId    [16]byte // Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
	ParamType  uint8    // Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
}

Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout.

func (*ParamValue) ID 

func (self *ParamValue) ID() uint8

func (*ParamValue) Size 

func (self *ParamValue) Size() uint8

type ParseCharFunc 

type ParseCharFunc func(byte) (packet *MavPacket, err error)

func GetMavParser 

func GetMavParser() ParseCharFunc

type Ping 

type Ping struct {
	TimeUsec        uint64 // Unix timestamp in microseconds
	Seq             uint32 // PING sequence
	TargetSystem    uint8  // 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
	TargetComponent uint8  // 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
}

A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections.

func (*Ping) ID 

func (self *Ping) ID() uint8

func (*Ping) Size 

func (self *Ping) Size() uint8

type RadioStatus 

type RadioStatus 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 (*RadioStatus) ID 

func (self *RadioStatus) ID() uint8

func (*RadioStatus) Size 

func (self *RadioStatus) Size() uint8

type RawImu 

type RawImu struct {
	TimeUsec uint64 // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
	Xacc     int16  // X acceleration (raw)
	Yacc     int16  // Y acceleration (raw)
	Zacc     int16  // Z acceleration (raw)
	Xgyro    int16  // Angular speed around X axis (raw)
	Ygyro    int16  // Angular speed around Y axis (raw)
	Zgyro    int16  // Angular speed around Z axis (raw)
	Xmag     int16  // X Magnetic field (raw)
	Ymag     int16  // Y Magnetic field (raw)
	Zmag     int16  // Z Magnetic field (raw)
}

The RAW IMU readings for the usual 9DOF sensor setup. This message should always contain the true raw values without any scaling to allow data capture and system debugging.

func (*RawImu) ID 

func (self *RawImu) ID() uint8

func (*RawImu) Size 

func (self *RawImu) Size() uint8

type RawPressure 

type RawPressure struct {
	TimeUsec    uint64 // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
	PressAbs    int16  // Absolute pressure (raw)
	PressDiff1  int16  // Differential pressure 1 (raw)
	PressDiff2  int16  // Differential pressure 2 (raw)
	Temperature int16  // Raw Temperature measurement (raw)
}

The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values.

func (*RawPressure) ID 

func (self *RawPressure) ID() uint8

func (*RawPressure) Size 

func (self *RawPressure) Size() uint8

type RcChannelsOverride 

type RcChannelsOverride struct {
	Chan1Raw        uint16 // RC channel 1 value, in microseconds. A value of UINT16_MAX means to ignore this field.
	Chan2Raw        uint16 // RC channel 2 value, in microseconds. A value of UINT16_MAX means to ignore this field.
	Chan3Raw        uint16 // RC channel 3 value, in microseconds. A value of UINT16_MAX means to ignore this field.
	Chan4Raw        uint16 // RC channel 4 value, in microseconds. A value of UINT16_MAX means to ignore this field.
	Chan5Raw        uint16 // RC channel 5 value, in microseconds. A value of UINT16_MAX means to ignore this field.
	Chan6Raw        uint16 // RC channel 6 value, in microseconds. A value of UINT16_MAX means to ignore this field.
	Chan7Raw        uint16 // RC channel 7 value, in microseconds. A value of UINT16_MAX means to ignore this field.
	Chan8Raw        uint16 // RC channel 8 value, in microseconds. A value of UINT16_MAX means to ignore this field.
	TargetSystem    uint8  // System ID
	TargetComponent uint8  // Component ID
}

The RAW values of the RC channels sent to the MAV to override info received from the RC radio. A value of UINT16_MAX means no change to that channel. A value of 0 means control of that channel should be released back to the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.

func (*RcChannelsOverride) ID 

func (self *RcChannelsOverride) ID() uint8

func (*RcChannelsOverride) Size 

func (self *RcChannelsOverride) Size() uint8

type RcChannelsRaw 

type RcChannelsRaw struct {
	TimeBootMs uint32 // Timestamp (milliseconds since system boot)
	Chan1Raw   uint16 // RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
	Chan2Raw   uint16 // RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
	Chan3Raw   uint16 // RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
	Chan4Raw   uint16 // RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
	Chan5Raw   uint16 // RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
	Chan6Raw   uint16 // RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
	Chan7Raw   uint16 // RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
	Chan8Raw   uint16 // RC channel 8 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
	Port       uint8  // Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
	Rssi       uint8  // Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
}

The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.

func (*RcChannelsRaw) ID 

func (self *RcChannelsRaw) ID() uint8

func (*RcChannelsRaw) Size 

func (self *RcChannelsRaw) Size() uint8

type RcChannelsScaled 

type RcChannelsScaled struct {
	TimeBootMs  uint32 // Timestamp (milliseconds since system boot)
	Chan1Scaled int16  // RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
	Chan2Scaled int16  // RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
	Chan3Scaled int16  // RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
	Chan4Scaled int16  // RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
	Chan5Scaled int16  // RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
	Chan6Scaled int16  // RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
	Chan7Scaled int16  // RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
	Chan8Scaled int16  // RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
	Port        uint8  // Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
	Rssi        uint8  // Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
}

The scaled values of the RC channels received. (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to UINT16_MAX.

func (*RcChannelsScaled) ID 

func (self *RcChannelsScaled) ID() uint8

func (*RcChannelsScaled) Size 

func (self *RcChannelsScaled) Size() uint8

type RequestDataStream 

type RequestDataStream struct {
	ReqMessageRate  uint16 // The requested interval between two messages of this type
	TargetSystem    uint8  // The target requested to send the message stream.
	TargetComponent uint8  // The target requested to send the message stream.
	ReqStreamId     uint8  // The ID of the requested data stream
	StartStop       uint8  // 1 to start sending, 0 to stop sending.
}

func (*RequestDataStream) ID 

func (self *RequestDataStream) ID() uint8

func (*RequestDataStream) Size 

func (self *RequestDataStream) Size() uint8

type RollPitchYawRatesThrustSetpoint 

type RollPitchYawRatesThrustSetpoint struct {
	TimeBootMs uint32  // Timestamp in milliseconds since system boot
	RollRate   float32 // Desired roll rate in radians per second
	PitchRate  float32 // Desired pitch rate in radians per second
	YawRate    float32 // Desired yaw rate in radians per second
	Thrust     float32 // Collective thrust, normalized to 0 .. 1
}

Setpoint in roll, pitch, yaw rates and thrust currently active on the system.

func (*RollPitchYawRatesThrustSetpoint) ID 

func (self *RollPitchYawRatesThrustSetpoint) ID() uint8

func (*RollPitchYawRatesThrustSetpoint) Size 

func (self *RollPitchYawRatesThrustSetpoint) Size() uint8

type RollPitchYawSpeedThrustSetpoint 

type RollPitchYawSpeedThrustSetpoint struct {
	TimeBootMs uint32  // Timestamp in milliseconds since system boot
	RollSpeed  float32 // Desired roll angular speed in rad/s
	PitchSpeed float32 // Desired pitch angular speed in rad/s
	YawSpeed   float32 // Desired yaw angular speed in rad/s
	Thrust     float32 // Collective thrust, normalized to 0 .. 1
}

Setpoint in rollspeed, pitchspeed, yawspeed currently active on the system.

func (*RollPitchYawSpeedThrustSetpoint) ID 

func (self *RollPitchYawSpeedThrustSetpoint) ID() uint8

func (*RollPitchYawSpeedThrustSetpoint) Size 

func (self *RollPitchYawSpeedThrustSetpoint) Size() uint8

type RollPitchYawThrustSetpoint 

type RollPitchYawThrustSetpoint struct {
	TimeBootMs uint32  // Timestamp in milliseconds since system boot
	Roll       float32 // Desired roll angle in radians
	Pitch      float32 // Desired pitch angle in radians
	Yaw        float32 // Desired yaw angle in radians
	Thrust     float32 // Collective thrust, normalized to 0 .. 1
}

Setpoint in roll, pitch, yaw currently active on the system.

func (*RollPitchYawThrustSetpoint) ID 

func (self *RollPitchYawThrustSetpoint) ID() uint8

func (*RollPitchYawThrustSetpoint) Size 

func (self *RollPitchYawThrustSetpoint) Size() uint8

type SafetyAllowedArea 

type SafetyAllowedArea struct {
	P1x   float32 // x position 1 / Latitude 1
	P1y   float32 // y position 1 / Longitude 1
	P1z   float32 // z position 1 / Altitude 1
	P2x   float32 // x position 2 / Latitude 2
	P2y   float32 // y position 2 / Longitude 2
	P2z   float32 // z position 2 / Altitude 2
	Frame uint8   // Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
}

Read out the safety zone the MAV currently assumes.

func (*SafetyAllowedArea) ID 

func (self *SafetyAllowedArea) ID() uint8

func (*SafetyAllowedArea) Size 

func (self *SafetyAllowedArea) Size() uint8

type SafetySetAllowedArea 

type SafetySetAllowedArea struct {
	P1x             float32 // x position 1 / Latitude 1
	P1y             float32 // y position 1 / Longitude 1
	P1z             float32 // z position 1 / Altitude 1
	P2x             float32 // x position 2 / Latitude 2
	P2y             float32 // y position 2 / Longitude 2
	P2z             float32 // z position 2 / Altitude 2
	TargetSystem    uint8   // System ID
	TargetComponent uint8   // Component ID
	Frame           uint8   // Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
}

Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/MISSIONs to accept and which to reject. Safety areas are often enforced by national or competition regulations.

func (*SafetySetAllowedArea) ID 

func (self *SafetySetAllowedArea) ID() uint8

func (*SafetySetAllowedArea) Size 

func (self *SafetySetAllowedArea) Size() uint8

type ScaledImu 

type ScaledImu struct {
	TimeBootMs uint32 // Timestamp (milliseconds since system boot)
	Xacc       int16  // X acceleration (mg)
	Yacc       int16  // Y acceleration (mg)
	Zacc       int16  // Z acceleration (mg)
	Xgyro      int16  // Angular speed around X axis (millirad /sec)
	Ygyro      int16  // Angular speed around Y axis (millirad /sec)
	Zgyro      int16  // Angular speed around Z axis (millirad /sec)
	Xmag       int16  // X Magnetic field (milli tesla)
	Ymag       int16  // Y Magnetic field (milli tesla)
	Zmag       int16  // Z Magnetic field (milli tesla)
}

The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units

func (*ScaledImu) ID 

func (self *ScaledImu) ID() uint8

func (*ScaledImu) Size 

func (self *ScaledImu) Size() uint8

type ScaledPressure 

type ScaledPressure struct {
	TimeBootMs  uint32  // Timestamp (milliseconds since system boot)
	PressAbs    float32 // Absolute pressure (hectopascal)
	PressDiff   float32 // Differential pressure 1 (hectopascal)
	Temperature int16   // Temperature measurement (0.01 degrees celsius)
}

The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.

func (*ScaledPressure) ID 

func (self *ScaledPressure) ID() uint8

func (*ScaledPressure) Size 

func (self *ScaledPressure) Size() uint8

type ServoOutputRaw 

type ServoOutputRaw struct {
	TimeUsec  uint32 // Timestamp (microseconds since system boot)
	Servo1Raw uint16 // Servo output 1 value, in microseconds
	Servo2Raw uint16 // Servo output 2 value, in microseconds
	Servo3Raw uint16 // Servo output 3 value, in microseconds
	Servo4Raw uint16 // Servo output 4 value, in microseconds
	Servo5Raw uint16 // Servo output 5 value, in microseconds
	Servo6Raw uint16 // Servo output 6 value, in microseconds
	Servo7Raw uint16 // Servo output 7 value, in microseconds
	Servo8Raw uint16 // Servo output 8 value, in microseconds
	Port      uint8  // Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
}

The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.

func (*ServoOutputRaw) ID 

func (self *ServoOutputRaw) ID() uint8

func (*ServoOutputRaw) Size 

func (self *ServoOutputRaw) Size() uint8

type SetGlobalPositionSetpointInt 

type SetGlobalPositionSetpointInt struct {
	Latitude        int32 // Latitude (WGS84), in degrees * 1E7
	Longitude       int32 // Longitude (WGS84), in degrees * 1E7
	Altitude        int32 // Altitude (WGS84), in meters * 1000 (positive for up)
	Yaw             int16 // Desired yaw angle in degrees * 100
	CoordinateFrame uint8 // Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
}

Set the current global position setpoint.

func (*SetGlobalPositionSetpointInt) ID 

func (self *SetGlobalPositionSetpointInt) ID() uint8

func (*SetGlobalPositionSetpointInt) Size 

func (self *SetGlobalPositionSetpointInt) Size() uint8

type SetGpsGlobalOrigin 

type SetGpsGlobalOrigin struct {
	Latitude     int32 // Latitude (WGS84), in degrees * 1E7
	Longitude    int32 // Longitude (WGS84, in degrees * 1E7
	Altitude     int32 // Altitude (WGS84), in meters * 1000 (positive for up)
	TargetSystem uint8 // System ID
}

As local waypoints exist, the global MISSION reference allows to transform between the local coordinate frame and the global (GPS) coordinate frame. This can be necessary when e.g. in- and outdoor settings are connected and the MAV should move from in- to outdoor.

func (*SetGpsGlobalOrigin) ID 

func (self *SetGpsGlobalOrigin) ID() uint8

func (*SetGpsGlobalOrigin) Size 

func (self *SetGpsGlobalOrigin) Size() uint8

type SetLocalPositionSetpoint 

type SetLocalPositionSetpoint struct {
	X               float32 // x position
	Y               float32 // y position
	Z               float32 // z position
	Yaw             float32 // Desired yaw angle
	TargetSystem    uint8   // System ID
	TargetComponent uint8   // Component ID
	CoordinateFrame uint8   // Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
}

Set the setpoint for a local position controller. This is the position in local coordinates the MAV should fly to. This message is sent by the path/MISSION planner to the onboard position controller. As some MAVs have a degree of freedom in yaw (e.g. all helicopters/quadrotors), the desired yaw angle is part of the message.

func (*SetLocalPositionSetpoint) ID 

func (self *SetLocalPositionSetpoint) ID() uint8

func (*SetLocalPositionSetpoint) Size 

func (self *SetLocalPositionSetpoint) Size() uint8

type SetMode 

type SetMode struct {
	CustomMode   uint32 // The new autopilot-specific mode. This field can be ignored by an autopilot.
	TargetSystem uint8  // The system setting the mode
	BaseMode     uint8  // The new base mode
}

Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.

func (*SetMode) ID 

func (self *SetMode) ID() uint8

func (*SetMode) Size 

func (self *SetMode) Size() uint8

type SetQuadMotorsSetpoint 

type SetQuadMotorsSetpoint struct {
	MotorFrontNw uint16 // Front motor in + configuration, front left motor in x configuration
	MotorRightNe uint16 // Right motor in + configuration, front right motor in x configuration
	MotorBackSe  uint16 // Back motor in + configuration, back right motor in x configuration
	MotorLeftSw  uint16 // Left motor in + configuration, back left motor in x configuration
	TargetSystem uint8  // System ID of the system that should set these motor commands
}

Setpoint in the four motor speeds

func (*SetQuadMotorsSetpoint) ID 

func (self *SetQuadMotorsSetpoint) ID() uint8

func (*SetQuadMotorsSetpoint) Size 

func (self *SetQuadMotorsSetpoint) Size() uint8

type SetQuadSwarmLedRollPitchYawThrust 

type SetQuadSwarmLedRollPitchYawThrust struct {
	Roll     [4]int16  // Desired roll angle in radians +-PI (+-INT16_MAX)
	Pitch    [4]int16  // Desired pitch angle in radians +-PI (+-INT16_MAX)
	Yaw      [4]int16  // Desired yaw angle in radians, scaled to int16 +-PI (+-INT16_MAX)
	Thrust   [4]uint16 // Collective thrust, scaled to uint16 (0..UINT16_MAX)
	Group    uint8     // ID of the quadrotor group (0 - 255, up to 256 groups supported)
	Mode     uint8     // ID of the flight mode (0 - 255, up to 256 modes supported)
	LedRed   [4]uint8  // RGB red channel (0-255)
	LedBlue  [4]uint8  // RGB green channel (0-255)
	LedGreen [4]uint8  // RGB blue channel (0-255)
}

Setpoint for up to four quadrotors in a group / wing

func (*SetQuadSwarmLedRollPitchYawThrust) ID 

func (self *SetQuadSwarmLedRollPitchYawThrust) ID() uint8

func (*SetQuadSwarmLedRollPitchYawThrust) Size 

func (self *SetQuadSwarmLedRollPitchYawThrust) Size() uint8

type SetQuadSwarmRollPitchYawThrust 

type SetQuadSwarmRollPitchYawThrust struct {
	Roll   [4]int16  // Desired roll angle in radians +-PI (+-INT16_MAX)
	Pitch  [4]int16  // Desired pitch angle in radians +-PI (+-INT16_MAX)
	Yaw    [4]int16  // Desired yaw angle in radians, scaled to int16 +-PI (+-INT16_MAX)
	Thrust [4]uint16 // Collective thrust, scaled to uint16 (0..UINT16_MAX)
	Group  uint8     // ID of the quadrotor group (0 - 255, up to 256 groups supported)
	Mode   uint8     // ID of the flight mode (0 - 255, up to 256 modes supported)
}

Setpoint for up to four quadrotors in a group / wing

func (*SetQuadSwarmRollPitchYawThrust) ID 

func (self *SetQuadSwarmRollPitchYawThrust) ID() uint8

func (*SetQuadSwarmRollPitchYawThrust) Size 

func (self *SetQuadSwarmRollPitchYawThrust) Size() uint8

type SetRollPitchYawSpeedThrust 

type SetRollPitchYawSpeedThrust struct {
	RollSpeed       float32 // Desired roll angular speed in rad/s
	PitchSpeed      float32 // Desired pitch angular speed in rad/s
	YawSpeed        float32 // Desired yaw angular speed in rad/s
	Thrust          float32 // Collective thrust, normalized to 0 .. 1
	TargetSystem    uint8   // System ID
	TargetComponent uint8   // Component ID
}

Set roll, pitch and yaw.

func (*SetRollPitchYawSpeedThrust) ID 

func (self *SetRollPitchYawSpeedThrust) ID() uint8

func (*SetRollPitchYawSpeedThrust) Size 

func (self *SetRollPitchYawSpeedThrust) Size() uint8

type SetRollPitchYawThrust 

type SetRollPitchYawThrust struct {
	Roll            float32 // Desired roll angle in radians
	Pitch           float32 // Desired pitch angle in radians
	Yaw             float32 // Desired yaw angle in radians
	Thrust          float32 // Collective thrust, normalized to 0 .. 1
	TargetSystem    uint8   // System ID
	TargetComponent uint8   // Component ID
}

Set roll, pitch and yaw.

func (*SetRollPitchYawThrust) ID 

func (self *SetRollPitchYawThrust) ID() uint8

func (*SetRollPitchYawThrust) Size 

func (self *SetRollPitchYawThrust) Size() uint8

type Setpoint6dof 

type Setpoint6dof struct {
	TransX       float32 // Translational Component in x
	TransY       float32 // Translational Component in y
	TransZ       float32 // Translational Component in z
	RotX         float32 // Rotational Component in x
	RotY         float32 // Rotational Component in y
	RotZ         float32 // Rotational Component in z
	TargetSystem uint8   // System ID
}

Set the 6 DOF setpoint for a attitude and position controller.

func (*Setpoint6dof) ID 

func (self *Setpoint6dof) ID() uint8

func (*Setpoint6dof) Size 

func (self *Setpoint6dof) Size() uint8

type Setpoint8dof 

type Setpoint8dof struct {
	Val1         float32 // Value 1
	Val2         float32 // Value 2
	Val3         float32 // Value 3
	Val4         float32 // Value 4
	Val5         float32 // Value 5
	Val6         float32 // Value 6
	Val7         float32 // Value 7
	Val8         float32 // Value 8
	TargetSystem uint8   // System ID
}

Set the 8 DOF setpoint for a controller.

func (*Setpoint8dof) ID 

func (self *Setpoint8dof) ID() uint8

func (*Setpoint8dof) Size 

func (self *Setpoint8dof) Size() uint8

type SimState 

type SimState struct {
	Q1         float32 // True attitude quaternion component 1
	Q2         float32 // True attitude quaternion component 2
	Q3         float32 // True attitude quaternion component 3
	Q4         float32 // True attitude quaternion component 4
	Roll       float32 // Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
	Pitch      float32 // Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
	Yaw        float32 // Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
	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        float32 // Latitude in degrees
	Lon        float32 // Longitude in degrees
	Alt        float32 // Altitude in meters
	StdDevHorz float32 // Horizontal position standard deviation
	StdDevVert float32 // Vertical position standard deviation
	Vn         float32 // True velocity in m/s in NORTH direction in earth-fixed NED frame
	Ve         float32 // True velocity in m/s in EAST direction in earth-fixed NED frame
	Vd         float32 // True velocity in m/s in DOWN direction in earth-fixed NED frame
}

Status of simulation environment, if used

func (*SimState) ID 

func (self *SimState) ID() uint8

func (*SimState) Size 

func (self *SimState) Size() uint8

type StateCorrection 

type StateCorrection struct {
	Xerr     float32 // x position error
	Yerr     float32 // y position error
	Zerr     float32 // z position error
	Rollerr  float32 // roll error (radians)
	Pitcherr float32 // pitch error (radians)
	Yawerr   float32 // yaw error (radians)
	Vxerr    float32 // x velocity
	Vyerr    float32 // y velocity
	Vzerr    float32 // z velocity
}

Corrects the systems state by adding an error correction term to the position and velocity, and by rotating the attitude by a correction angle.

func (*StateCorrection) ID 

func (self *StateCorrection) ID() uint8

func (*StateCorrection) Size 

func (self *StateCorrection) Size() uint8

type Statustext 

type Statustext struct {
	Severity uint8    // Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
	Text     [50]byte // Status text message, without null termination character
}

Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).

func (*Statustext) ID 

func (self *Statustext) ID() uint8

func (*Statustext) Size 

func (self *Statustext) Size() uint8

type SysStatus 

type SysStatus struct {
	OnboardControlSensorsPresent uint32 // Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
	OnboardControlSensorsEnabled uint32 // Bitmask showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
	OnboardControlSensorsHealth  uint32 // Bitmask showing which onboard controllers and sensors are operational or have an error:  Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
	Load                         uint16 // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
	VoltageBattery               uint16 // Battery voltage, in millivolts (1 = 1 millivolt)
	CurrentBattery               int16  // Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
	DropRateComm                 uint16 // Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
	ErrorsComm                   uint16 // Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
	ErrorsCount1                 uint16 // Autopilot-specific errors
	ErrorsCount2                 uint16 // Autopilot-specific errors
	ErrorsCount3                 uint16 // Autopilot-specific errors
	ErrorsCount4                 uint16 // Autopilot-specific errors
	BatteryRemaining             int8   // Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
}

The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows wether the system is currently active or not and if an emergency occured. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occured it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.

func (*SysStatus) ID 

func (self *SysStatus) ID() uint8

func (*SysStatus) Size 

func (self *SysStatus) Size() uint8

type SystemTime 

type SystemTime struct {
	TimeUnixUsec uint64 // Timestamp of the master clock in microseconds since UNIX epoch.
	TimeBootMs   uint32 // Timestamp of the component clock since boot time in milliseconds.
}

The system time is the time of the master clock, typically the computer clock of the main onboard computer.

func (*SystemTime) ID 

func (self *SystemTime) ID() uint8

func (*SystemTime) Size 

func (self *SystemTime) Size() uint8

type VfrHud 

type VfrHud struct {
	Airspeed    float32 // Current airspeed in m/s
	Groundspeed float32 // Current ground speed in m/s
	Alt         float32 // Current altitude (MSL), in meters
	Climb       float32 // Current climb rate in meters/second
	Heading     int16   // Current heading in degrees, in compass units (0..360, 0=north)
	Throttle    uint16  // Current throttle setting in integer percent, 0 to 100
}

Metrics typically displayed on a HUD for fixed wing aircraft

func (*VfrHud) ID 

func (self *VfrHud) ID() uint8

func (*VfrHud) Size 

func (self *VfrHud) Size() uint8

type ViconPositionEstimate 

type ViconPositionEstimate struct {
	Usec  uint64  // Timestamp (microseconds, synced to UNIX time or since system boot)
	X     float32 // Global X position
	Y     float32 // Global Y position
	Z     float32 // Global Z position
	Roll  float32 // Roll angle in rad
	Pitch float32 // Pitch angle in rad
	Yaw   float32 // Yaw angle in rad
}

func (*ViconPositionEstimate) ID 

func (self *ViconPositionEstimate) ID() uint8

func (*ViconPositionEstimate) Size 

func (self *ViconPositionEstimate) Size() uint8

type VisionPositionEstimate 

type VisionPositionEstimate struct {
	Usec  uint64  // Timestamp (microseconds, synced to UNIX time or since system boot)
	X     float32 // Global X position
	Y     float32 // Global Y position
	Z     float32 // Global Z position
	Roll  float32 // Roll angle in rad
	Pitch float32 // Pitch angle in rad
	Yaw   float32 // Yaw angle in rad
}

func (*VisionPositionEstimate) ID 

func (self *VisionPositionEstimate) ID() uint8

func (*VisionPositionEstimate) Size 

func (self *VisionPositionEstimate) Size() uint8

type VisionSpeedEstimate 

type VisionSpeedEstimate struct {
	Usec uint64  // Timestamp (microseconds, synced to UNIX time or since system boot)
	X    float32 // Global X speed
	Y    float32 // Global Y speed
	Z    float32 // Global Z speed
}

func (*VisionSpeedEstimate) ID 

func (self *VisionSpeedEstimate) ID() uint8

func (*VisionSpeedEstimate) Size 

func (self *VisionSpeedEstimate) Size() uint8

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