Inheritance diagram for mavlink_px4.MAVLink:
Public Member Functions | |
| def | __init__ (self, file, srcSystem=0, srcComponent=0) |
| def | set_callback (self, callback, args, kwargs) |
| def | send (self, mavmsg) |
| def | bytes_needed (self) |
| def | parse_char (self, c) |
| def | parse_buffer (self, s) |
| def | decode (self, msgbuf) |
| def | heartbeat_encode (self, type, autopilot, base_mode, custom_mode, system_status, mavlink_version=3) |
| def | heartbeat_send (self, type, autopilot, base_mode, custom_mode, system_status, mavlink_version=3) |
| def | sys_status_encode (self, onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4) |
| def | sys_status_send (self, onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4) |
| def | system_time_encode (self, time_unix_usec, time_boot_ms) |
| def | system_time_send (self, time_unix_usec, time_boot_ms) |
| def | ping_encode (self, time_usec, seq, target_system, target_component) |
| def | ping_send (self, time_usec, seq, target_system, target_component) |
| def | change_operator_control_encode (self, target_system, control_request, version, passkey) |
| def | change_operator_control_send (self, target_system, control_request, version, passkey) |
| def | change_operator_control_ack_encode (self, gcs_system_id, control_request, ack) |
| def | change_operator_control_ack_send (self, gcs_system_id, control_request, ack) |
| def | auth_key_encode (self, key) |
| def | auth_key_send (self, key) |
| def | set_mode_encode (self, target_system, base_mode, custom_mode) |
| def | set_mode_send (self, target_system, base_mode, custom_mode) |
| def | param_request_read_encode (self, target_system, target_component, param_id, param_index) |
| def | param_request_read_send (self, target_system, target_component, param_id, param_index) |
| def | param_request_list_encode (self, target_system, target_component) |
| def | param_request_list_send (self, target_system, target_component) |
| def | param_value_encode (self, param_id, param_value, param_type, param_count, param_index) |
| def | param_value_send (self, param_id, param_value, param_type, param_count, param_index) |
| def | param_set_encode (self, target_system, target_component, param_id, param_value, param_type) |
| def | param_set_send (self, target_system, target_component, param_id, param_value, param_type) |
| def | gps_raw_int_encode (self, time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible) |
| def | gps_raw_int_send (self, time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible) |
| def | gps_status_encode (self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr) |
| def | gps_status_send (self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr) |
| def | scaled_imu_encode (self, time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag) |
| def | scaled_imu_send (self, time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag) |
| def | raw_imu_encode (self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag) |
| def | raw_imu_send (self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag) |
| def | raw_pressure_encode (self, time_usec, press_abs, press_diff1, press_diff2, temperature) |
| def | raw_pressure_send (self, time_usec, press_abs, press_diff1, press_diff2, temperature) |
| def | scaled_pressure_encode (self, time_boot_ms, press_abs, press_diff, temperature) |
| def | scaled_pressure_send (self, time_boot_ms, press_abs, press_diff, temperature) |
| def | attitude_encode (self, time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed) |
| def | attitude_send (self, time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed) |
| def | attitude_quaternion_encode (self, time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed) |
| def | attitude_quaternion_send (self, time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed) |
| def | local_position_ned_encode (self, time_boot_ms, x, y, z, vx, vy, vz) |
| def | local_position_ned_send (self, time_boot_ms, x, y, z, vx, vy, vz) |
| def | global_position_int_encode (self, time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg) |
| def | global_position_int_send (self, time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg) |
| def | rc_channels_scaled_encode (self, time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi) |
| def | rc_channels_scaled_send (self, time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi) |
| def | rc_channels_raw_encode (self, time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi) |
| def | rc_channels_raw_send (self, time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi) |
| def | servo_output_raw_encode (self, time_boot_ms, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw) |
| def | servo_output_raw_send (self, time_boot_ms, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw) |
| def | mission_request_partial_list_encode (self, target_system, target_component, start_index, end_index) |
| def | mission_request_partial_list_send (self, target_system, target_component, start_index, end_index) |
| def | mission_write_partial_list_encode (self, target_system, target_component, start_index, end_index) |
| def | mission_write_partial_list_send (self, target_system, target_component, start_index, end_index) |
| def | mission_item_encode (self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z) |
| def | mission_item_send (self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z) |
| def | mission_request_encode (self, target_system, target_component, seq) |
| def | mission_request_send (self, target_system, target_component, seq) |
| def | mission_set_current_encode (self, target_system, target_component, seq) |
| def | mission_set_current_send (self, target_system, target_component, seq) |
| def | mission_current_encode (self, seq) |
| def | mission_current_send (self, seq) |
| def | mission_request_list_encode (self, target_system, target_component) |
| def | mission_request_list_send (self, target_system, target_component) |
| def | mission_count_encode (self, target_system, target_component, count) |
| def | mission_count_send (self, target_system, target_component, count) |
| def | mission_clear_all_encode (self, target_system, target_component) |
| def | mission_clear_all_send (self, target_system, target_component) |
| def | mission_item_reached_encode (self, seq) |
| def | mission_item_reached_send (self, seq) |
| def | mission_ack_encode (self, target_system, target_component, type) |
| def | mission_ack_send (self, target_system, target_component, type) |
| def | set_gps_global_origin_encode (self, target_system, latitude, longitude, altitude) |
| def | set_gps_global_origin_send (self, target_system, latitude, longitude, altitude) |
| def | gps_global_origin_encode (self, latitude, longitude, altitude) |
| def | gps_global_origin_send (self, latitude, longitude, altitude) |
| def | set_local_position_setpoint_encode (self, target_system, target_component, coordinate_frame, x, y, z, yaw) |
| def | set_local_position_setpoint_send (self, target_system, target_component, coordinate_frame, x, y, z, yaw) |
| def | local_position_setpoint_encode (self, coordinate_frame, x, y, z, yaw) |
| def | local_position_setpoint_send (self, coordinate_frame, x, y, z, yaw) |
| def | global_position_setpoint_int_encode (self, coordinate_frame, latitude, longitude, altitude, yaw) |
| def | global_position_setpoint_int_send (self, coordinate_frame, latitude, longitude, altitude, yaw) |
| def | set_global_position_setpoint_int_encode (self, coordinate_frame, latitude, longitude, altitude, yaw) |
| def | set_global_position_setpoint_int_send (self, coordinate_frame, latitude, longitude, altitude, yaw) |
| def | safety_set_allowed_area_encode (self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z) |
| def | safety_set_allowed_area_send (self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z) |
| def | safety_allowed_area_encode (self, frame, p1x, p1y, p1z, p2x, p2y, p2z) |
| def | safety_allowed_area_send (self, frame, p1x, p1y, p1z, p2x, p2y, p2z) |
| def | set_roll_pitch_yaw_thrust_encode (self, target_system, target_component, roll, pitch, yaw, thrust) |
| def | set_roll_pitch_yaw_thrust_send (self, target_system, target_component, roll, pitch, yaw, thrust) |
| def | set_roll_pitch_yaw_speed_thrust_encode (self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust) |
| def | set_roll_pitch_yaw_speed_thrust_send (self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust) |
| def | roll_pitch_yaw_thrust_setpoint_encode (self, time_boot_ms, roll, pitch, yaw, thrust) |
| def | roll_pitch_yaw_thrust_setpoint_send (self, time_boot_ms, roll, pitch, yaw, thrust) |
| def | roll_pitch_yaw_speed_thrust_setpoint_encode (self, time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust) |
| def | roll_pitch_yaw_speed_thrust_setpoint_send (self, time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust) |
| def | set_quad_motors_setpoint_encode (self, target_system, motor_front_nw, motor_right_ne, motor_back_se, motor_left_sw) |
| def | set_quad_motors_setpoint_send (self, target_system, motor_front_nw, motor_right_ne, motor_back_se, motor_left_sw) |
| def | set_quad_swarm_roll_pitch_yaw_thrust_encode (self, group, mode, roll, pitch, yaw, thrust) |
| def | set_quad_swarm_roll_pitch_yaw_thrust_send (self, group, mode, roll, pitch, yaw, thrust) |
| def | nav_controller_output_encode (self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error) |
| def | nav_controller_output_send (self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error) |
| def | set_quad_swarm_led_roll_pitch_yaw_thrust_encode (self, group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust) |
| def | set_quad_swarm_led_roll_pitch_yaw_thrust_send (self, group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust) |
| def | state_correction_encode (self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr) |
| def | state_correction_send (self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr) |
| def | request_data_stream_encode (self, target_system, target_component, req_stream_id, req_message_rate, start_stop) |
| def | request_data_stream_send (self, target_system, target_component, req_stream_id, req_message_rate, start_stop) |
| def | data_stream_encode (self, stream_id, message_rate, on_off) |
| def | data_stream_send (self, stream_id, message_rate, on_off) |
| def | manual_control_encode (self, target, x, y, z, r, buttons) |
| def | manual_control_send (self, target, x, y, z, r, buttons) |
| def | rc_channels_override_encode (self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw) |
| def | rc_channels_override_send (self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw) |
| def | vfr_hud_encode (self, airspeed, groundspeed, heading, throttle, alt, climb) |
| def | vfr_hud_send (self, airspeed, groundspeed, heading, throttle, alt, climb) |
| def | command_long_encode (self, target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7) |
| def | command_long_send (self, target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7) |
| def | command_ack_encode (self, command, result) |
| def | command_ack_send (self, command, result) |
| def | roll_pitch_yaw_rates_thrust_setpoint_encode (self, time_boot_ms, roll_rate, pitch_rate, yaw_rate, thrust) |
| def | roll_pitch_yaw_rates_thrust_setpoint_send (self, time_boot_ms, roll_rate, pitch_rate, yaw_rate, thrust) |
| def | manual_setpoint_encode (self, time_boot_ms, roll, pitch, yaw, thrust, mode_switch, manual_override_switch) |
| def | manual_setpoint_send (self, time_boot_ms, roll, pitch, yaw, thrust, mode_switch, manual_override_switch) |
| def | local_position_ned_system_global_offset_encode (self, time_boot_ms, x, y, z, roll, pitch, yaw) |
| def | local_position_ned_system_global_offset_send (self, time_boot_ms, x, y, z, roll, pitch, yaw) |
| def | hil_state_encode (self, time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc) |
| def | hil_state_send (self, time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc) |
| def | hil_controls_encode (self, time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode) |
| def | hil_controls_send (self, time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode) |
| def | hil_rc_inputs_raw_encode (self, time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi) |
| def | hil_rc_inputs_raw_send (self, time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi) |
| def | optical_flow_encode (self, time_usec, sensor_id, flow_x, flow_y, flow_comp_m_x, flow_comp_m_y, quality, ground_distance) |
| def | optical_flow_send (self, time_usec, sensor_id, flow_x, flow_y, flow_comp_m_x, flow_comp_m_y, quality, ground_distance) |
| def | global_vision_position_estimate_encode (self, usec, x, y, z, roll, pitch, yaw) |
| def | global_vision_position_estimate_send (self, usec, x, y, z, roll, pitch, yaw) |
| def | vision_position_estimate_encode (self, usec, x, y, z, roll, pitch, yaw) |
| def | vision_position_estimate_send (self, usec, x, y, z, roll, pitch, yaw) |
| def | vision_speed_estimate_encode (self, usec, x, y, z) |
| def | vision_speed_estimate_send (self, usec, x, y, z) |
| def | vicon_position_estimate_encode (self, usec, x, y, z, roll, pitch, yaw) |
| def | vicon_position_estimate_send (self, usec, x, y, z, roll, pitch, yaw) |
| def | highres_imu_encode (self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag, abs_pressure, diff_pressure, pressure_alt, temperature, fields_updated) |
| def | highres_imu_send (self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag, abs_pressure, diff_pressure, pressure_alt, temperature, fields_updated) |
| def | file_transfer_start_encode (self, transfer_uid, dest_path, direction, file_size, flags) |
| def | file_transfer_start_send (self, transfer_uid, dest_path, direction, file_size, flags) |
| def | file_transfer_dir_list_encode (self, transfer_uid, dir_path, flags) |
| def | file_transfer_dir_list_send (self, transfer_uid, dir_path, flags) |
| def | file_transfer_res_encode (self, transfer_uid, result) |
| def | file_transfer_res_send (self, transfer_uid, result) |
| def | battery_status_encode (self, accu_id, voltage_cell_1, voltage_cell_2, voltage_cell_3, voltage_cell_4, voltage_cell_5, voltage_cell_6, current_battery, battery_remaining) |
| def | battery_status_send (self, accu_id, voltage_cell_1, voltage_cell_2, voltage_cell_3, voltage_cell_4, voltage_cell_5, voltage_cell_6, current_battery, battery_remaining) |
| def | setpoint_8dof_encode (self, target_system, val1, val2, val3, val4, val5, val6, val7, val8) |
| def | setpoint_8dof_send (self, target_system, val1, val2, val3, val4, val5, val6, val7, val8) |
| def | setpoint_6dof_encode (self, target_system, trans_x, trans_y, trans_z, rot_x, rot_y, rot_z) |
| def | setpoint_6dof_send (self, target_system, trans_x, trans_y, trans_z, rot_x, rot_y, rot_z) |
| def | memory_vect_encode (self, address, ver, type, value) |
| def | memory_vect_send (self, address, ver, type, value) |
| def | debug_vect_encode (self, name, time_usec, x, y, z) |
| def | debug_vect_send (self, name, time_usec, x, y, z) |
| def | named_value_float_encode (self, time_boot_ms, name, value) |
| def | named_value_float_send (self, time_boot_ms, name, value) |
| def | named_value_int_encode (self, time_boot_ms, name, value) |
| def | named_value_int_send (self, time_boot_ms, name, value) |
| def | statustext_encode (self, severity, text) |
| def | statustext_send (self, severity, text) |
| def | debug_encode (self, time_boot_ms, ind, value) |
| def | debug_send (self, time_boot_ms, ind, value) |
Detailed Description
MAVLink protocol handling class
Member Function Documentation
§ attitude_encode()
| def mavlink_px4.MAVLink.attitude_encode | ( | self, | |
| time_boot_ms, | |||
| roll, | |||
| pitch, | |||
| yaw, | |||
| rollspeed, | |||
| pitchspeed, | |||
| yawspeed | |||
| ) |
The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right). time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) roll : Roll angle (rad, -pi..+pi) (float) pitch : Pitch angle (rad, -pi..+pi) (float) yaw : Yaw angle (rad, -pi..+pi) (float) rollspeed : Roll angular speed (rad/s) (float) pitchspeed : Pitch angular speed (rad/s) (float) yawspeed : Yaw angular speed (rad/s) (float)
§ attitude_quaternion_encode()
| def mavlink_px4.MAVLink.attitude_quaternion_encode | ( | self, | |
| time_boot_ms, | |||
| q1, | |||
| q2, | |||
| q3, | |||
| q4, | |||
| rollspeed, | |||
| pitchspeed, | |||
| yawspeed | |||
| ) |
The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) q1 : Quaternion component 1 (float) q2 : Quaternion component 2 (float) q3 : Quaternion component 3 (float) q4 : Quaternion component 4 (float) rollspeed : Roll angular speed (rad/s) (float) pitchspeed : Pitch angular speed (rad/s) (float) yawspeed : Yaw angular speed (rad/s) (float)
§ attitude_quaternion_send()
| def mavlink_px4.MAVLink.attitude_quaternion_send | ( | self, | |
| time_boot_ms, | |||
| q1, | |||
| q2, | |||
| q3, | |||
| q4, | |||
| rollspeed, | |||
| pitchspeed, | |||
| yawspeed | |||
| ) |
The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) q1 : Quaternion component 1 (float) q2 : Quaternion component 2 (float) q3 : Quaternion component 3 (float) q4 : Quaternion component 4 (float) rollspeed : Roll angular speed (rad/s) (float) pitchspeed : Pitch angular speed (rad/s) (float) yawspeed : Yaw angular speed (rad/s) (float)
§ attitude_send()
| def mavlink_px4.MAVLink.attitude_send | ( | self, | |
| time_boot_ms, | |||
| roll, | |||
| pitch, | |||
| yaw, | |||
| rollspeed, | |||
| pitchspeed, | |||
| yawspeed | |||
| ) |
The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right). time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) roll : Roll angle (rad, -pi..+pi) (float) pitch : Pitch angle (rad, -pi..+pi) (float) yaw : Yaw angle (rad, -pi..+pi) (float) rollspeed : Roll angular speed (rad/s) (float) pitchspeed : Pitch angular speed (rad/s) (float) yawspeed : Yaw angular speed (rad/s) (float)
§ auth_key_encode()
| def mavlink_px4.MAVLink.auth_key_encode | ( | self, | |
| 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. key : key (char)
§ auth_key_send()
| def mavlink_px4.MAVLink.auth_key_send | ( | self, | |
| 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. key : key (char)
§ battery_status_encode()
| def mavlink_px4.MAVLink.battery_status_encode | ( | self, | |
| accu_id, | |||
| voltage_cell_1, | |||
| voltage_cell_2, | |||
| voltage_cell_3, | |||
| voltage_cell_4, | |||
| voltage_cell_5, | |||
| voltage_cell_6, | |||
| current_battery, | |||
| battery_remaining | |||
| ) |
Transmitte battery informations for a accu pack. accu_id : Accupack ID (uint8_t) voltage_cell_1 : Battery voltage of cell 1, in millivolts (1 = 1 millivolt) (uint16_t) voltage_cell_2 : Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) voltage_cell_3 : Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) voltage_cell_4 : Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) voltage_cell_5 : Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) voltage_cell_6 : Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) current_battery : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t) battery_remaining : Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery (int8_t)
§ battery_status_send()
| def mavlink_px4.MAVLink.battery_status_send | ( | self, | |
| accu_id, | |||
| voltage_cell_1, | |||
| voltage_cell_2, | |||
| voltage_cell_3, | |||
| voltage_cell_4, | |||
| voltage_cell_5, | |||
| voltage_cell_6, | |||
| current_battery, | |||
| battery_remaining | |||
| ) |
Transmitte battery informations for a accu pack. accu_id : Accupack ID (uint8_t) voltage_cell_1 : Battery voltage of cell 1, in millivolts (1 = 1 millivolt) (uint16_t) voltage_cell_2 : Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) voltage_cell_3 : Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) voltage_cell_4 : Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) voltage_cell_5 : Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) voltage_cell_6 : Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell (uint16_t) current_battery : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t) battery_remaining : Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery (int8_t)
§ bytes_needed()
| def mavlink_px4.MAVLink.bytes_needed | ( | self | ) |
return number of bytes needed for next parsing stage
§ change_operator_control_ack_encode()
| def mavlink_px4.MAVLink.change_operator_control_ack_encode | ( | self, | |
| gcs_system_id, | |||
| control_request, | |||
| ack | |||
| ) |
Accept / deny control of this MAV gcs_system_id : ID of the GCS this message (uint8_t) control_request : 0: request control of this MAV, 1: Release control of this MAV (uint8_t) ack : 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control (uint8_t)
§ change_operator_control_ack_send()
| def mavlink_px4.MAVLink.change_operator_control_ack_send | ( | self, | |
| gcs_system_id, | |||
| control_request, | |||
| ack | |||
| ) |
Accept / deny control of this MAV gcs_system_id : ID of the GCS this message (uint8_t) control_request : 0: request control of this MAV, 1: Release control of this MAV (uint8_t) ack : 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control (uint8_t)
§ change_operator_control_encode()
| def mavlink_px4.MAVLink.change_operator_control_encode | ( | self, | |
| target_system, | |||
| control_request, | |||
| version, | |||
| passkey | |||
| ) |
Request to control this MAV target_system : System the GCS requests control for (uint8_t) control_request : 0: request control of this MAV, 1: Release control of this MAV (uint8_t) version : 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. (uint8_t) passkey : 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 "!?,.-" (char)
§ change_operator_control_send()
| def mavlink_px4.MAVLink.change_operator_control_send | ( | self, | |
| target_system, | |||
| control_request, | |||
| version, | |||
| passkey | |||
| ) |
Request to control this MAV target_system : System the GCS requests control for (uint8_t) control_request : 0: request control of this MAV, 1: Release control of this MAV (uint8_t) version : 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. (uint8_t) passkey : 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 "!?,.-" (char)
§ command_ack_encode()
| def mavlink_px4.MAVLink.command_ack_encode | ( | self, | |
| command, | |||
| result | |||
| ) |
Report status of a command. Includes feedback wether the command was executed. command : Command ID, as defined by MAV_CMD enum. (uint16_t) result : See MAV_RESULT enum (uint8_t)
§ command_ack_send()
| def mavlink_px4.MAVLink.command_ack_send | ( | self, | |
| command, | |||
| result | |||
| ) |
Report status of a command. Includes feedback wether the command was executed. command : Command ID, as defined by MAV_CMD enum. (uint16_t) result : See MAV_RESULT enum (uint8_t)
§ command_long_encode()
| def mavlink_px4.MAVLink.command_long_encode | ( | self, | |
| target_system, | |||
| target_component, | |||
| command, | |||
| confirmation, | |||
| param1, | |||
| param2, | |||
| param3, | |||
| param4, | |||
| param5, | |||
| param6, | |||
| param7 | |||
| ) |
Send a command with up to four parameters to the MAV target_system : System which should execute the command (uint8_t) target_component : Component which should execute the command, 0 for all components (uint8_t) command : Command ID, as defined by MAV_CMD enum. (uint16_t) confirmation : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t) param1 : Parameter 1, as defined by MAV_CMD enum. (float) param2 : Parameter 2, as defined by MAV_CMD enum. (float) param3 : Parameter 3, as defined by MAV_CMD enum. (float) param4 : Parameter 4, as defined by MAV_CMD enum. (float) param5 : Parameter 5, as defined by MAV_CMD enum. (float) param6 : Parameter 6, as defined by MAV_CMD enum. (float) param7 : Parameter 7, as defined by MAV_CMD enum. (float)
§ command_long_send()
| def mavlink_px4.MAVLink.command_long_send | ( | self, | |
| target_system, | |||
| target_component, | |||
| command, | |||
| confirmation, | |||
| param1, | |||
| param2, | |||
| param3, | |||
| param4, | |||
| param5, | |||
| param6, | |||
| param7 | |||
| ) |
Send a command with up to four parameters to the MAV target_system : System which should execute the command (uint8_t) target_component : Component which should execute the command, 0 for all components (uint8_t) command : Command ID, as defined by MAV_CMD enum. (uint16_t) confirmation : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t) param1 : Parameter 1, as defined by MAV_CMD enum. (float) param2 : Parameter 2, as defined by MAV_CMD enum. (float) param3 : Parameter 3, as defined by MAV_CMD enum. (float) param4 : Parameter 4, as defined by MAV_CMD enum. (float) param5 : Parameter 5, as defined by MAV_CMD enum. (float) param6 : Parameter 6, as defined by MAV_CMD enum. (float) param7 : Parameter 7, as defined by MAV_CMD enum. (float)
§ data_stream_encode()
| def mavlink_px4.MAVLink.data_stream_encode | ( | self, | |
| stream_id, | |||
| message_rate, | |||
| on_off | |||
| ) |
stream_id : The ID of the requested data stream (uint8_t) message_rate : The requested interval between two messages of this type (uint16_t) on_off : 1 stream is enabled, 0 stream is stopped. (uint8_t)
§ data_stream_send()
| def mavlink_px4.MAVLink.data_stream_send | ( | self, | |
| stream_id, | |||
| message_rate, | |||
| on_off | |||
| ) |
stream_id : The ID of the requested data stream (uint8_t) message_rate : The requested interval between two messages of this type (uint16_t) on_off : 1 stream is enabled, 0 stream is stopped. (uint8_t)
§ debug_encode()
| def mavlink_px4.MAVLink.debug_encode | ( | self, | |
| time_boot_ms, | |||
| ind, | |||
| value | |||
| ) |
Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N. time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) ind : index of debug variable (uint8_t) value : DEBUG value (float)
§ debug_send()
| def mavlink_px4.MAVLink.debug_send | ( | self, | |
| time_boot_ms, | |||
| ind, | |||
| value | |||
| ) |
Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N. time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) ind : index of debug variable (uint8_t) value : DEBUG value (float)
§ debug_vect_encode()
| def mavlink_px4.MAVLink.debug_vect_encode | ( | self, | |
| name, | |||
| time_usec, | |||
| x, | |||
| y, | |||
| z | |||
| ) |
name : Name (char) time_usec : Timestamp (uint64_t) x : x (float) y : y (float) z : z (float)
§ debug_vect_send()
| def mavlink_px4.MAVLink.debug_vect_send | ( | self, | |
| name, | |||
| time_usec, | |||
| x, | |||
| y, | |||
| z | |||
| ) |
name : Name (char) time_usec : Timestamp (uint64_t) x : x (float) y : y (float) z : z (float)
§ decode()
| def mavlink_px4.MAVLink.decode | ( | self, | |
| msgbuf | |||
| ) |
decode a buffer as a MAVLink message
§ file_transfer_dir_list_encode()
| def mavlink_px4.MAVLink.file_transfer_dir_list_encode | ( | self, | |
| transfer_uid, | |||
| dir_path, | |||
| flags | |||
| ) |
Get directory listing transfer_uid : Unique transfer ID (uint64_t) dir_path : Directory path to list (char) flags : RESERVED (uint8_t)
§ file_transfer_dir_list_send()
| def mavlink_px4.MAVLink.file_transfer_dir_list_send | ( | self, | |
| transfer_uid, | |||
| dir_path, | |||
| flags | |||
| ) |
Get directory listing transfer_uid : Unique transfer ID (uint64_t) dir_path : Directory path to list (char) flags : RESERVED (uint8_t)
§ file_transfer_res_encode()
| def mavlink_px4.MAVLink.file_transfer_res_encode | ( | self, | |
| transfer_uid, | |||
| result | |||
| ) |
File transfer result transfer_uid : Unique transfer ID (uint64_t) result : 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device (uint8_t)
§ file_transfer_res_send()
| def mavlink_px4.MAVLink.file_transfer_res_send | ( | self, | |
| transfer_uid, | |||
| result | |||
| ) |
File transfer result transfer_uid : Unique transfer ID (uint64_t) result : 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device (uint8_t)
§ file_transfer_start_encode()
| def mavlink_px4.MAVLink.file_transfer_start_encode | ( | self, | |
| transfer_uid, | |||
| dest_path, | |||
| direction, | |||
| file_size, | |||
| flags | |||
| ) |
Begin file transfer transfer_uid : Unique transfer ID (uint64_t) dest_path : Destination path (char) direction : Transfer direction: 0: from requester, 1: to requester (uint8_t) file_size : File size in bytes (uint32_t) flags : RESERVED (uint8_t)
§ file_transfer_start_send()
| def mavlink_px4.MAVLink.file_transfer_start_send | ( | self, | |
| transfer_uid, | |||
| dest_path, | |||
| direction, | |||
| file_size, | |||
| flags | |||
| ) |
Begin file transfer transfer_uid : Unique transfer ID (uint64_t) dest_path : Destination path (char) direction : Transfer direction: 0: from requester, 1: to requester (uint8_t) file_size : File size in bytes (uint32_t) flags : RESERVED (uint8_t)
§ global_position_int_encode()
| def mavlink_px4.MAVLink.global_position_int_encode | ( | self, | |
| time_boot_ms, | |||
| lat, | |||
| lon, | |||
| alt, | |||
| relative_alt, | |||
| vx, | |||
| vy, | |||
| vz, | |||
| hdg | |||
| ) |
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. time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) lat : Latitude, expressed as * 1E7 (int32_t) lon : Longitude, expressed as * 1E7 (int32_t) alt : Altitude in meters, expressed as * 1000 (millimeters), above MSL (int32_t) relative_alt : Altitude above ground in meters, expressed as * 1000 (millimeters) (int32_t) vx : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t) vy : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t) vz : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t) hdg : Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t)
§ global_position_int_send()
| def mavlink_px4.MAVLink.global_position_int_send | ( | self, | |
| time_boot_ms, | |||
| lat, | |||
| lon, | |||
| alt, | |||
| relative_alt, | |||
| vx, | |||
| vy, | |||
| vz, | |||
| hdg | |||
| ) |
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. time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) lat : Latitude, expressed as * 1E7 (int32_t) lon : Longitude, expressed as * 1E7 (int32_t) alt : Altitude in meters, expressed as * 1000 (millimeters), above MSL (int32_t) relative_alt : Altitude above ground in meters, expressed as * 1000 (millimeters) (int32_t) vx : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t) vy : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t) vz : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t) hdg : Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t)
§ global_position_setpoint_int_encode()
| def mavlink_px4.MAVLink.global_position_setpoint_int_encode | ( | self, | |
| coordinate_frame, | |||
| latitude, | |||
| longitude, | |||
| altitude, | |||
| yaw | |||
| ) |
Transmit the current local setpoint of the controller to other MAVs (collision avoidance) and to the GCS. coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t) latitude : WGS84 Latitude position in degrees * 1E7 (int32_t) longitude : WGS84 Longitude position in degrees * 1E7 (int32_t) altitude : WGS84 Altitude in meters * 1000 (positive for up) (int32_t) yaw : Desired yaw angle in degrees * 100 (int16_t)
§ global_position_setpoint_int_send()
| def mavlink_px4.MAVLink.global_position_setpoint_int_send | ( | self, | |
| coordinate_frame, | |||
| latitude, | |||
| longitude, | |||
| altitude, | |||
| yaw | |||
| ) |
Transmit the current local setpoint of the controller to other MAVs (collision avoidance) and to the GCS. coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t) latitude : WGS84 Latitude position in degrees * 1E7 (int32_t) longitude : WGS84 Longitude position in degrees * 1E7 (int32_t) altitude : WGS84 Altitude in meters * 1000 (positive for up) (int32_t) yaw : Desired yaw angle in degrees * 100 (int16_t)
§ global_vision_position_estimate_encode()
| def mavlink_px4.MAVLink.global_vision_position_estimate_encode | ( | self, | |
| usec, | |||
| x, | |||
| y, | |||
| z, | |||
| roll, | |||
| pitch, | |||
| yaw | |||
| ) |
usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) x : Global X position (float) y : Global Y position (float) z : Global Z position (float) roll : Roll angle in rad (float) pitch : Pitch angle in rad (float) yaw : Yaw angle in rad (float)
§ global_vision_position_estimate_send()
| def mavlink_px4.MAVLink.global_vision_position_estimate_send | ( | self, | |
| usec, | |||
| x, | |||
| y, | |||
| z, | |||
| roll, | |||
| pitch, | |||
| yaw | |||
| ) |
usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) x : Global X position (float) y : Global Y position (float) z : Global Z position (float) roll : Roll angle in rad (float) pitch : Pitch angle in rad (float) yaw : Yaw angle in rad (float)
§ gps_global_origin_encode()
| def mavlink_px4.MAVLink.gps_global_origin_encode | ( | self, | |
| latitude, | |||
| longitude, | |||
| altitude | |||
| ) |
Once the MAV sets a new GPS-Local correspondence, this message announces the origin (0,0,0) position latitude : Latitude (WGS84), expressed as * 1E7 (int32_t) longitude : Longitude (WGS84), expressed as * 1E7 (int32_t) altitude : Altitude(WGS84), expressed as * 1000 (int32_t)
§ gps_global_origin_send()
| def mavlink_px4.MAVLink.gps_global_origin_send | ( | self, | |
| latitude, | |||
| longitude, | |||
| altitude | |||
| ) |
Once the MAV sets a new GPS-Local correspondence, this message announces the origin (0,0,0) position latitude : Latitude (WGS84), expressed as * 1E7 (int32_t) longitude : Longitude (WGS84), expressed as * 1E7 (int32_t) altitude : Altitude(WGS84), expressed as * 1000 (int32_t)
§ gps_raw_int_encode()
| def mavlink_px4.MAVLink.gps_raw_int_encode | ( | self, | |
| time_usec, | |||
| fix_type, | |||
| lat, | |||
| lon, | |||
| alt, | |||
| eph, | |||
| epv, | |||
| vel, | |||
| cog, | |||
| satellites_visible | |||
| ) |
The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the system, 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). time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) fix_type : 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. (uint8_t) lat : Latitude in 1E7 degrees (int32_t) lon : Longitude in 1E7 degrees (int32_t) alt : Altitude in 1E3 meters (millimeters) above MSL (int32_t) eph : GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t) epv : GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t) vel : GPS ground speed (m/s * 100). If unknown, set to: 65535 (uint16_t) cog : Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t) satellites_visible : Number of satellites visible. If unknown, set to 255 (uint8_t)
§ gps_raw_int_send()
| def mavlink_px4.MAVLink.gps_raw_int_send | ( | self, | |
| time_usec, | |||
| fix_type, | |||
| lat, | |||
| lon, | |||
| alt, | |||
| eph, | |||
| epv, | |||
| vel, | |||
| cog, | |||
| satellites_visible | |||
| ) |
The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the system, 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). time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) fix_type : 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. (uint8_t) lat : Latitude in 1E7 degrees (int32_t) lon : Longitude in 1E7 degrees (int32_t) alt : Altitude in 1E3 meters (millimeters) above MSL (int32_t) eph : GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t) epv : GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t) vel : GPS ground speed (m/s * 100). If unknown, set to: 65535 (uint16_t) cog : Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t) satellites_visible : Number of satellites visible. If unknown, set to 255 (uint8_t)
§ gps_status_encode()
| def mavlink_px4.MAVLink.gps_status_encode | ( | self, | |
| satellites_visible, | |||
| satellite_prn, | |||
| satellite_used, | |||
| satellite_elevation, | |||
| satellite_azimuth, | |||
| satellite_snr | |||
| ) |
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. satellites_visible : Number of satellites visible (uint8_t) satellite_prn : Global satellite ID (uint8_t) satellite_used : 0: Satellite not used, 1: used for localization (uint8_t) satellite_elevation : Elevation (0: right on top of receiver, 90: on the horizon) of satellite (uint8_t) satellite_azimuth : Direction of satellite, 0: 0 deg, 255: 360 deg. (uint8_t) satellite_snr : Signal to noise ratio of satellite (uint8_t)
§ gps_status_send()
| def mavlink_px4.MAVLink.gps_status_send | ( | self, | |
| satellites_visible, | |||
| satellite_prn, | |||
| satellite_used, | |||
| satellite_elevation, | |||
| satellite_azimuth, | |||
| satellite_snr | |||
| ) |
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. satellites_visible : Number of satellites visible (uint8_t) satellite_prn : Global satellite ID (uint8_t) satellite_used : 0: Satellite not used, 1: used for localization (uint8_t) satellite_elevation : Elevation (0: right on top of receiver, 90: on the horizon) of satellite (uint8_t) satellite_azimuth : Direction of satellite, 0: 0 deg, 255: 360 deg. (uint8_t) satellite_snr : Signal to noise ratio of satellite (uint8_t)
§ heartbeat_encode()
| def mavlink_px4.MAVLink.heartbeat_encode | ( | self, | |
| type, | |||
| autopilot, | |||
| base_mode, | |||
| custom_mode, | |||
| system_status, | |||
mavlink_version = 3 |
|||
| ) |
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). type : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t) autopilot : Autopilot type / class. defined in MAV_AUTOPILOT ENUM (uint8_t) base_mode : System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h (uint8_t) custom_mode : A bitfield for use for autopilot-specific flags. (uint32_t) system_status : System status flag, see MAV_STATE ENUM (uint8_t) mavlink_version : MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version (uint8_t)
§ heartbeat_send()
| def mavlink_px4.MAVLink.heartbeat_send | ( | self, | |
| type, | |||
| autopilot, | |||
| base_mode, | |||
| custom_mode, | |||
| system_status, | |||
mavlink_version = 3 |
|||
| ) |
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). type : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t) autopilot : Autopilot type / class. defined in MAV_AUTOPILOT ENUM (uint8_t) base_mode : System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h (uint8_t) custom_mode : A bitfield for use for autopilot-specific flags. (uint32_t) system_status : System status flag, see MAV_STATE ENUM (uint8_t) mavlink_version : MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version (uint8_t)
§ highres_imu_encode()
| def mavlink_px4.MAVLink.highres_imu_encode | ( | self, | |
| time_usec, | |||
| xacc, | |||
| yacc, | |||
| zacc, | |||
| xgyro, | |||
| ygyro, | |||
| zgyro, | |||
| xmag, | |||
| ymag, | |||
| zmag, | |||
| abs_pressure, | |||
| diff_pressure, | |||
| pressure_alt, | |||
| temperature, | |||
| fields_updated | |||
| ) |
The IMU readings in SI units in NED body frame time_usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) xacc : X acceleration (m/s^2) (float) yacc : Y acceleration (m/s^2) (float) zacc : Z acceleration (m/s^2) (float) xgyro : Angular speed around X axis (rad / sec) (float) ygyro : Angular speed around Y axis (rad / sec) (float) zgyro : Angular speed around Z axis (rad / sec) (float) xmag : X Magnetic field (Gauss) (float) ymag : Y Magnetic field (Gauss) (float) zmag : Z Magnetic field (Gauss) (float) abs_pressure : Absolute pressure in millibar (float) diff_pressure : Differential pressure in millibar (float) pressure_alt : Altitude calculated from pressure (float) temperature : Temperature in degrees celsius (float) fields_updated : Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature (uint16_t)
§ highres_imu_send()
| def mavlink_px4.MAVLink.highres_imu_send | ( | self, | |
| time_usec, | |||
| xacc, | |||
| yacc, | |||
| zacc, | |||
| xgyro, | |||
| ygyro, | |||
| zgyro, | |||
| xmag, | |||
| ymag, | |||
| zmag, | |||
| abs_pressure, | |||
| diff_pressure, | |||
| pressure_alt, | |||
| temperature, | |||
| fields_updated | |||
| ) |
The IMU readings in SI units in NED body frame time_usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) xacc : X acceleration (m/s^2) (float) yacc : Y acceleration (m/s^2) (float) zacc : Z acceleration (m/s^2) (float) xgyro : Angular speed around X axis (rad / sec) (float) ygyro : Angular speed around Y axis (rad / sec) (float) zgyro : Angular speed around Z axis (rad / sec) (float) xmag : X Magnetic field (Gauss) (float) ymag : Y Magnetic field (Gauss) (float) zmag : Z Magnetic field (Gauss) (float) abs_pressure : Absolute pressure in millibar (float) diff_pressure : Differential pressure in millibar (float) pressure_alt : Altitude calculated from pressure (float) temperature : Temperature in degrees celsius (float) fields_updated : Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature (uint16_t)
§ hil_controls_encode()
| def mavlink_px4.MAVLink.hil_controls_encode | ( | self, | |
| time_usec, | |||
| roll_ailerons, | |||
| pitch_elevator, | |||
| yaw_rudder, | |||
| throttle, | |||
| aux1, | |||
| aux2, | |||
| aux3, | |||
| aux4, | |||
| mode, | |||
| nav_mode | |||
| ) |
Sent from autopilot to simulation. Hardware in the loop control outputs time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) roll_ailerons : Control output -1 .. 1 (float) pitch_elevator : Control output -1 .. 1 (float) yaw_rudder : Control output -1 .. 1 (float) throttle : Throttle 0 .. 1 (float) aux1 : Aux 1, -1 .. 1 (float) aux2 : Aux 2, -1 .. 1 (float) aux3 : Aux 3, -1 .. 1 (float) aux4 : Aux 4, -1 .. 1 (float) mode : System mode (MAV_MODE) (uint8_t) nav_mode : Navigation mode (MAV_NAV_MODE) (uint8_t)
§ hil_controls_send()
| def mavlink_px4.MAVLink.hil_controls_send | ( | self, | |
| time_usec, | |||
| roll_ailerons, | |||
| pitch_elevator, | |||
| yaw_rudder, | |||
| throttle, | |||
| aux1, | |||
| aux2, | |||
| aux3, | |||
| aux4, | |||
| mode, | |||
| nav_mode | |||
| ) |
Sent from autopilot to simulation. Hardware in the loop control outputs time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) roll_ailerons : Control output -1 .. 1 (float) pitch_elevator : Control output -1 .. 1 (float) yaw_rudder : Control output -1 .. 1 (float) throttle : Throttle 0 .. 1 (float) aux1 : Aux 1, -1 .. 1 (float) aux2 : Aux 2, -1 .. 1 (float) aux3 : Aux 3, -1 .. 1 (float) aux4 : Aux 4, -1 .. 1 (float) mode : System mode (MAV_MODE) (uint8_t) nav_mode : Navigation mode (MAV_NAV_MODE) (uint8_t)
§ hil_rc_inputs_raw_encode()
| def mavlink_px4.MAVLink.hil_rc_inputs_raw_encode | ( | self, | |
| time_usec, | |||
| chan1_raw, | |||
| chan2_raw, | |||
| chan3_raw, | |||
| chan4_raw, | |||
| chan5_raw, | |||
| chan6_raw, | |||
| chan7_raw, | |||
| chan8_raw, | |||
| chan9_raw, | |||
| chan10_raw, | |||
| chan11_raw, | |||
| chan12_raw, | |||
| rssi | |||
| ) |
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. time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) chan1_raw : RC channel 1 value, in microseconds (uint16_t) chan2_raw : RC channel 2 value, in microseconds (uint16_t) chan3_raw : RC channel 3 value, in microseconds (uint16_t) chan4_raw : RC channel 4 value, in microseconds (uint16_t) chan5_raw : RC channel 5 value, in microseconds (uint16_t) chan6_raw : RC channel 6 value, in microseconds (uint16_t) chan7_raw : RC channel 7 value, in microseconds (uint16_t) chan8_raw : RC channel 8 value, in microseconds (uint16_t) chan9_raw : RC channel 9 value, in microseconds (uint16_t) chan10_raw : RC channel 10 value, in microseconds (uint16_t) chan11_raw : RC channel 11 value, in microseconds (uint16_t) chan12_raw : RC channel 12 value, in microseconds (uint16_t) rssi : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
§ hil_rc_inputs_raw_send()
| def mavlink_px4.MAVLink.hil_rc_inputs_raw_send | ( | self, | |
| time_usec, | |||
| chan1_raw, | |||
| chan2_raw, | |||
| chan3_raw, | |||
| chan4_raw, | |||
| chan5_raw, | |||
| chan6_raw, | |||
| chan7_raw, | |||
| chan8_raw, | |||
| chan9_raw, | |||
| chan10_raw, | |||
| chan11_raw, | |||
| chan12_raw, | |||
| rssi | |||
| ) |
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. time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) chan1_raw : RC channel 1 value, in microseconds (uint16_t) chan2_raw : RC channel 2 value, in microseconds (uint16_t) chan3_raw : RC channel 3 value, in microseconds (uint16_t) chan4_raw : RC channel 4 value, in microseconds (uint16_t) chan5_raw : RC channel 5 value, in microseconds (uint16_t) chan6_raw : RC channel 6 value, in microseconds (uint16_t) chan7_raw : RC channel 7 value, in microseconds (uint16_t) chan8_raw : RC channel 8 value, in microseconds (uint16_t) chan9_raw : RC channel 9 value, in microseconds (uint16_t) chan10_raw : RC channel 10 value, in microseconds (uint16_t) chan11_raw : RC channel 11 value, in microseconds (uint16_t) chan12_raw : RC channel 12 value, in microseconds (uint16_t) rssi : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
§ hil_state_encode()
| def mavlink_px4.MAVLink.hil_state_encode | ( | self, | |
| time_usec, | |||
| roll, | |||
| pitch, | |||
| yaw, | |||
| rollspeed, | |||
| pitchspeed, | |||
| yawspeed, | |||
| lat, | |||
| lon, | |||
| alt, | |||
| vx, | |||
| vy, | |||
| vz, | |||
| xacc, | |||
| yacc, | |||
| zacc | |||
| ) |
Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations. time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) roll : Roll angle (rad) (float) pitch : Pitch angle (rad) (float) yaw : Yaw angle (rad) (float) rollspeed : Roll angular speed (rad/s) (float) pitchspeed : Pitch angular speed (rad/s) (float) yawspeed : Yaw angular speed (rad/s) (float) lat : Latitude, expressed as * 1E7 (int32_t) lon : Longitude, expressed as * 1E7 (int32_t) alt : Altitude in meters, expressed as * 1000 (millimeters) (int32_t) vx : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t) vy : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t) vz : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t) xacc : X acceleration (mg) (int16_t) yacc : Y acceleration (mg) (int16_t) zacc : Z acceleration (mg) (int16_t)
§ hil_state_send()
| def mavlink_px4.MAVLink.hil_state_send | ( | self, | |
| time_usec, | |||
| roll, | |||
| pitch, | |||
| yaw, | |||
| rollspeed, | |||
| pitchspeed, | |||
| yawspeed, | |||
| lat, | |||
| lon, | |||
| alt, | |||
| vx, | |||
| vy, | |||
| vz, | |||
| xacc, | |||
| yacc, | |||
| zacc | |||
| ) |
Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations. time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) roll : Roll angle (rad) (float) pitch : Pitch angle (rad) (float) yaw : Yaw angle (rad) (float) rollspeed : Roll angular speed (rad/s) (float) pitchspeed : Pitch angular speed (rad/s) (float) yawspeed : Yaw angular speed (rad/s) (float) lat : Latitude, expressed as * 1E7 (int32_t) lon : Longitude, expressed as * 1E7 (int32_t) alt : Altitude in meters, expressed as * 1000 (millimeters) (int32_t) vx : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t) vy : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t) vz : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t) xacc : X acceleration (mg) (int16_t) yacc : Y acceleration (mg) (int16_t) zacc : Z acceleration (mg) (int16_t)
§ local_position_ned_encode()
| def mavlink_px4.MAVLink.local_position_ned_encode | ( | self, | |
| time_boot_ms, | |||
| x, | |||
| y, | |||
| z, | |||
| vx, | |||
| vy, | |||
| vz | |||
| ) |
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) time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) x : X Position (float) y : Y Position (float) z : Z Position (float) vx : X Speed (float) vy : Y Speed (float) vz : Z Speed (float)
§ local_position_ned_send()
| def mavlink_px4.MAVLink.local_position_ned_send | ( | self, | |
| time_boot_ms, | |||
| x, | |||
| y, | |||
| z, | |||
| vx, | |||
| vy, | |||
| vz | |||
| ) |
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) time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) x : X Position (float) y : Y Position (float) z : Z Position (float) vx : X Speed (float) vy : Y Speed (float) vz : Z Speed (float)
§ local_position_ned_system_global_offset_encode()
| def mavlink_px4.MAVLink.local_position_ned_system_global_offset_encode | ( | self, | |
| time_boot_ms, | |||
| x, | |||
| y, | |||
| z, | |||
| roll, | |||
| pitch, | |||
| 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) time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) x : X Position (float) y : Y Position (float) z : Z Position (float) roll : Roll (float) pitch : Pitch (float) yaw : Yaw (float)
§ local_position_ned_system_global_offset_send()
| def mavlink_px4.MAVLink.local_position_ned_system_global_offset_send | ( | self, | |
| time_boot_ms, | |||
| x, | |||
| y, | |||
| z, | |||
| roll, | |||
| pitch, | |||
| 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) time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) x : X Position (float) y : Y Position (float) z : Z Position (float) roll : Roll (float) pitch : Pitch (float) yaw : Yaw (float)
§ local_position_setpoint_encode()
| def mavlink_px4.MAVLink.local_position_setpoint_encode | ( | self, | |
| coordinate_frame, | |||
| x, | |||
| y, | |||
| z, | |||
| yaw | |||
| ) |
Transmit the current local setpoint of the controller to other MAVs (collision avoidance) and to the GCS. coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t) x : x position (float) y : y position (float) z : z position (float) yaw : Desired yaw angle (float)
§ local_position_setpoint_send()
| def mavlink_px4.MAVLink.local_position_setpoint_send | ( | self, | |
| coordinate_frame, | |||
| x, | |||
| y, | |||
| z, | |||
| yaw | |||
| ) |
Transmit the current local setpoint of the controller to other MAVs (collision avoidance) and to the GCS. coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t) x : x position (float) y : y position (float) z : z position (float) yaw : Desired yaw angle (float)
§ manual_control_encode()
| def mavlink_px4.MAVLink.manual_control_encode | ( | self, | |
| target, | |||
| x, | |||
| y, | |||
| z, | |||
| r, | |||
| buttons | |||
| ) |
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 target : The system to be controlled. (uint8_t) x : 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. (int16_t) y : 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. (int16_t) z : 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. (int16_t) r : 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. (int16_t) buttons : A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. (uint16_t)
§ manual_control_send()
| def mavlink_px4.MAVLink.manual_control_send | ( | self, | |
| target, | |||
| x, | |||
| y, | |||
| z, | |||
| r, | |||
| buttons | |||
| ) |
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 target : The system to be controlled. (uint8_t) x : 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. (int16_t) y : 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. (int16_t) z : 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. (int16_t) r : 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. (int16_t) buttons : A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. (uint16_t)
§ manual_setpoint_encode()
| def mavlink_px4.MAVLink.manual_setpoint_encode | ( | self, | |
| time_boot_ms, | |||
| roll, | |||
| pitch, | |||
| yaw, | |||
| thrust, | |||
| mode_switch, | |||
| manual_override_switch | |||
| ) |
Setpoint in roll, pitch, yaw and thrust from the operator time_boot_ms : Timestamp in milliseconds since system boot (uint32_t) roll : Desired roll rate in radians per second (float) pitch : Desired pitch rate in radians per second (float) yaw : Desired yaw rate in radians per second (float) thrust : Collective thrust, normalized to 0 .. 1 (float) mode_switch : Flight mode switch position, 0.. 255 (uint8_t) manual_override_switch : Override mode switch position, 0.. 255 (uint8_t)
§ manual_setpoint_send()
| def mavlink_px4.MAVLink.manual_setpoint_send | ( | self, | |
| time_boot_ms, | |||
| roll, | |||
| pitch, | |||
| yaw, | |||
| thrust, | |||
| mode_switch, | |||
| manual_override_switch | |||
| ) |
Setpoint in roll, pitch, yaw and thrust from the operator time_boot_ms : Timestamp in milliseconds since system boot (uint32_t) roll : Desired roll rate in radians per second (float) pitch : Desired pitch rate in radians per second (float) yaw : Desired yaw rate in radians per second (float) thrust : Collective thrust, normalized to 0 .. 1 (float) mode_switch : Flight mode switch position, 0.. 255 (uint8_t) manual_override_switch : Override mode switch position, 0.. 255 (uint8_t)
§ memory_vect_encode()
| def mavlink_px4.MAVLink.memory_vect_encode | ( | self, | |
| address, | |||
| ver, | |||
| type, | |||
| value | |||
| ) |
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. address : Starting address of the debug variables (uint16_t) ver : Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below (uint8_t) type : 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 (uint8_t) value : Memory contents at specified address (int8_t)
§ memory_vect_send()
| def mavlink_px4.MAVLink.memory_vect_send | ( | self, | |
| address, | |||
| ver, | |||
| type, | |||
| value | |||
| ) |
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. address : Starting address of the debug variables (uint16_t) ver : Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below (uint8_t) type : 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 (uint8_t) value : Memory contents at specified address (int8_t)
§ mission_ack_encode()
| def mavlink_px4.MAVLink.mission_ack_encode | ( | self, | |
| target_system, | |||
| target_component, | |||
| type | |||
| ) |
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). target_system : System ID (uint8_t) target_component : Component ID (uint8_t) type : See MAV_MISSION_RESULT enum (uint8_t)
§ mission_ack_send()
| def mavlink_px4.MAVLink.mission_ack_send | ( | self, | |
| target_system, | |||
| target_component, | |||
| type | |||
| ) |
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). target_system : System ID (uint8_t) target_component : Component ID (uint8_t) type : See MAV_MISSION_RESULT enum (uint8_t)
§ mission_clear_all_encode()
| def mavlink_px4.MAVLink.mission_clear_all_encode | ( | self, | |
| target_system, | |||
| target_component | |||
| ) |
Delete all mission items at once. target_system : System ID (uint8_t) target_component : Component ID (uint8_t)
§ mission_clear_all_send()
| def mavlink_px4.MAVLink.mission_clear_all_send | ( | self, | |
| target_system, | |||
| target_component | |||
| ) |
Delete all mission items at once. target_system : System ID (uint8_t) target_component : Component ID (uint8_t)
§ mission_count_encode()
| def mavlink_px4.MAVLink.mission_count_encode | ( | self, | |
| target_system, | |||
| target_component, | |||
| count | |||
| ) |
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. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) count : Number of mission items in the sequence (uint16_t)
§ mission_count_send()
| def mavlink_px4.MAVLink.mission_count_send | ( | self, | |
| target_system, | |||
| target_component, | |||
| count | |||
| ) |
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. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) count : Number of mission items in the sequence (uint16_t)
§ mission_current_encode()
| def mavlink_px4.MAVLink.mission_current_encode | ( | self, | |
| seq | |||
| ) |
Message that announces the sequence number of the current active mission item. The MAV will fly towards this mission item. seq : Sequence (uint16_t)
§ mission_current_send()
| def mavlink_px4.MAVLink.mission_current_send | ( | self, | |
| seq | |||
| ) |
Message that announces the sequence number of the current active mission item. The MAV will fly towards this mission item. seq : Sequence (uint16_t)
§ mission_item_encode()
| def mavlink_px4.MAVLink.mission_item_encode | ( | self, | |
| target_system, | |||
| target_component, | |||
| seq, | |||
| frame, | |||
| command, | |||
| current, | |||
| autocontinue, | |||
| param1, | |||
| param2, | |||
| param3, | |||
| param4, | |||
| x, | |||
| y, | |||
| z | |||
| ) |
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. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) seq : Sequence (uint16_t) frame : The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h (uint8_t) command : The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs (uint16_t) current : false:0, true:1 (uint8_t) autocontinue : autocontinue to next wp (uint8_t) param1 : PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters (float) param2 : PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds (float) param3 : 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. (float) param4 : PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH (float) x : PARAM5 / local: x position, global: latitude (float) y : PARAM6 / y position: global: longitude (float) z : PARAM7 / z position: global: altitude (float)
§ mission_item_reached_encode()
| def mavlink_px4.MAVLink.mission_item_reached_encode | ( | self, | |
| seq | |||
| ) |
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. seq : Sequence (uint16_t)
§ mission_item_reached_send()
| def mavlink_px4.MAVLink.mission_item_reached_send | ( | self, | |
| seq | |||
| ) |
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. seq : Sequence (uint16_t)
§ mission_item_send()
| def mavlink_px4.MAVLink.mission_item_send | ( | self, | |
| target_system, | |||
| target_component, | |||
| seq, | |||
| frame, | |||
| command, | |||
| current, | |||
| autocontinue, | |||
| param1, | |||
| param2, | |||
| param3, | |||
| param4, | |||
| x, | |||
| y, | |||
| z | |||
| ) |
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. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) seq : Sequence (uint16_t) frame : The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h (uint8_t) command : The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs (uint16_t) current : false:0, true:1 (uint8_t) autocontinue : autocontinue to next wp (uint8_t) param1 : PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters (float) param2 : PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds (float) param3 : 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. (float) param4 : PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH (float) x : PARAM5 / local: x position, global: latitude (float) y : PARAM6 / y position: global: longitude (float) z : PARAM7 / z position: global: altitude (float)
§ mission_request_encode()
| def mavlink_px4.MAVLink.mission_request_encode | ( | self, | |
| target_system, | |||
| target_component, | |||
| seq | |||
| ) |
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 target_system : System ID (uint8_t) target_component : Component ID (uint8_t) seq : Sequence (uint16_t)
§ mission_request_list_encode()
| def mavlink_px4.MAVLink.mission_request_list_encode | ( | self, | |
| target_system, | |||
| target_component | |||
| ) |
Request the overall list of mission items from the system/component. target_system : System ID (uint8_t) target_component : Component ID (uint8_t)
§ mission_request_list_send()
| def mavlink_px4.MAVLink.mission_request_list_send | ( | self, | |
| target_system, | |||
| target_component | |||
| ) |
Request the overall list of mission items from the system/component. target_system : System ID (uint8_t) target_component : Component ID (uint8_t)
§ mission_request_partial_list_encode()
| def mavlink_px4.MAVLink.mission_request_partial_list_encode | ( | self, | |
| target_system, | |||
| target_component, | |||
| start_index, | |||
| end_index | |||
| ) |
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. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) start_index : Start index, 0 by default (int16_t) end_index : End index, -1 by default (-1: send list to end). Else a valid index of the list (int16_t)
§ mission_request_partial_list_send()
| def mavlink_px4.MAVLink.mission_request_partial_list_send | ( | self, | |
| target_system, | |||
| target_component, | |||
| start_index, | |||
| end_index | |||
| ) |
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. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) start_index : Start index, 0 by default (int16_t) end_index : End index, -1 by default (-1: send list to end). Else a valid index of the list (int16_t)
§ mission_request_send()
| def mavlink_px4.MAVLink.mission_request_send | ( | self, | |
| target_system, | |||
| target_component, | |||
| seq | |||
| ) |
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 target_system : System ID (uint8_t) target_component : Component ID (uint8_t) seq : Sequence (uint16_t)
§ mission_set_current_encode()
| def mavlink_px4.MAVLink.mission_set_current_encode | ( | self, | |
| target_system, | |||
| target_component, | |||
| seq | |||
| ) |
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). target_system : System ID (uint8_t) target_component : Component ID (uint8_t) seq : Sequence (uint16_t)
§ mission_set_current_send()
| def mavlink_px4.MAVLink.mission_set_current_send | ( | self, | |
| target_system, | |||
| target_component, | |||
| seq | |||
| ) |
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). target_system : System ID (uint8_t) target_component : Component ID (uint8_t) seq : Sequence (uint16_t)
§ mission_write_partial_list_encode()
| def mavlink_px4.MAVLink.mission_write_partial_list_encode | ( | self, | |
| target_system, | |||
| target_component, | |||
| start_index, | |||
| end_index | |||
| ) |
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! target_system : System ID (uint8_t) target_component : Component ID (uint8_t) start_index : Start index, 0 by default and smaller / equal to the largest index of the current onboard list. (int16_t) end_index : End index, equal or greater than start index. (int16_t)
§ mission_write_partial_list_send()
| def mavlink_px4.MAVLink.mission_write_partial_list_send | ( | self, | |
| target_system, | |||
| target_component, | |||
| start_index, | |||
| end_index | |||
| ) |
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! target_system : System ID (uint8_t) target_component : Component ID (uint8_t) start_index : Start index, 0 by default and smaller / equal to the largest index of the current onboard list. (int16_t) end_index : End index, equal or greater than start index. (int16_t)
§ named_value_float_encode()
| def mavlink_px4.MAVLink.named_value_float_encode | ( | self, | |
| time_boot_ms, | |||
| name, | |||
| value | |||
| ) |
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. time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) name : Name of the debug variable (char) value : Floating point value (float)
§ named_value_float_send()
| def mavlink_px4.MAVLink.named_value_float_send | ( | self, | |
| time_boot_ms, | |||
| name, | |||
| value | |||
| ) |
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. time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) name : Name of the debug variable (char) value : Floating point value (float)
§ named_value_int_encode()
| def mavlink_px4.MAVLink.named_value_int_encode | ( | self, | |
| time_boot_ms, | |||
| name, | |||
| value | |||
| ) |
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. time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) name : Name of the debug variable (char) value : Signed integer value (int32_t)
§ named_value_int_send()
| def mavlink_px4.MAVLink.named_value_int_send | ( | self, | |
| time_boot_ms, | |||
| name, | |||
| value | |||
| ) |
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. time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) name : Name of the debug variable (char) value : Signed integer value (int32_t)
§ nav_controller_output_encode()
| def mavlink_px4.MAVLink.nav_controller_output_encode | ( | self, | |
| nav_roll, | |||
| nav_pitch, | |||
| nav_bearing, | |||
| target_bearing, | |||
| wp_dist, | |||
| alt_error, | |||
| aspd_error, | |||
| xtrack_error | |||
| ) |
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. nav_roll : Current desired roll in degrees (float) nav_pitch : Current desired pitch in degrees (float) nav_bearing : Current desired heading in degrees (int16_t) target_bearing : Bearing to current MISSION/target in degrees (int16_t) wp_dist : Distance to active MISSION in meters (uint16_t) alt_error : Current altitude error in meters (float) aspd_error : Current airspeed error in meters/second (float) xtrack_error : Current crosstrack error on x-y plane in meters (float)
§ nav_controller_output_send()
| def mavlink_px4.MAVLink.nav_controller_output_send | ( | self, | |
| nav_roll, | |||
| nav_pitch, | |||
| nav_bearing, | |||
| target_bearing, | |||
| wp_dist, | |||
| alt_error, | |||
| aspd_error, | |||
| xtrack_error | |||
| ) |
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. nav_roll : Current desired roll in degrees (float) nav_pitch : Current desired pitch in degrees (float) nav_bearing : Current desired heading in degrees (int16_t) target_bearing : Bearing to current MISSION/target in degrees (int16_t) wp_dist : Distance to active MISSION in meters (uint16_t) alt_error : Current altitude error in meters (float) aspd_error : Current airspeed error in meters/second (float) xtrack_error : Current crosstrack error on x-y plane in meters (float)
§ optical_flow_encode()
| def mavlink_px4.MAVLink.optical_flow_encode | ( | self, | |
| time_usec, | |||
| sensor_id, | |||
| flow_x, | |||
| flow_y, | |||
| flow_comp_m_x, | |||
| flow_comp_m_y, | |||
| quality, | |||
| ground_distance | |||
| ) |
Optical flow from a flow sensor (e.g. optical mouse sensor) time_usec : Timestamp (UNIX) (uint64_t) sensor_id : Sensor ID (uint8_t) flow_x : Flow in pixels in x-sensor direction (int16_t) flow_y : Flow in pixels in y-sensor direction (int16_t) flow_comp_m_x : Flow in meters in x-sensor direction, angular-speed compensated (float) flow_comp_m_y : Flow in meters in y-sensor direction, angular-speed compensated (float) quality : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t) ground_distance : Ground distance in meters. Positive value: distance known. Negative value: Unknown distance (float)
§ optical_flow_send()
| def mavlink_px4.MAVLink.optical_flow_send | ( | self, | |
| time_usec, | |||
| sensor_id, | |||
| flow_x, | |||
| flow_y, | |||
| flow_comp_m_x, | |||
| flow_comp_m_y, | |||
| quality, | |||
| ground_distance | |||
| ) |
Optical flow from a flow sensor (e.g. optical mouse sensor) time_usec : Timestamp (UNIX) (uint64_t) sensor_id : Sensor ID (uint8_t) flow_x : Flow in pixels in x-sensor direction (int16_t) flow_y : Flow in pixels in y-sensor direction (int16_t) flow_comp_m_x : Flow in meters in x-sensor direction, angular-speed compensated (float) flow_comp_m_y : Flow in meters in y-sensor direction, angular-speed compensated (float) quality : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t) ground_distance : Ground distance in meters. Positive value: distance known. Negative value: Unknown distance (float)
§ param_request_list_encode()
| def mavlink_px4.MAVLink.param_request_list_encode | ( | self, | |
| target_system, | |||
| target_component | |||
| ) |
Request all parameters of this component. After his request, all parameters are emitted. target_system : System ID (uint8_t) target_component : Component ID (uint8_t)
§ param_request_list_send()
| def mavlink_px4.MAVLink.param_request_list_send | ( | self, | |
| target_system, | |||
| target_component | |||
| ) |
Request all parameters of this component. After his request, all parameters are emitted. target_system : System ID (uint8_t) target_component : Component ID (uint8_t)
§ param_request_read_encode()
| def mavlink_px4.MAVLink.param_request_read_encode | ( | self, | |
| target_system, | |||
| target_component, | |||
| param_id, | |||
| param_index | |||
| ) |
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. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) param_id : 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 (char) param_index : Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored) (int16_t)
§ param_request_read_send()
| def mavlink_px4.MAVLink.param_request_read_send | ( | self, | |
| target_system, | |||
| target_component, | |||
| param_id, | |||
| param_index | |||
| ) |
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. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) param_id : 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 (char) param_index : Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored) (int16_t)
§ param_set_encode()
| def mavlink_px4.MAVLink.param_set_encode | ( | self, | |
| target_system, | |||
| target_component, | |||
| param_id, | |||
| param_value, | |||
| param_type | |||
| ) |
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. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) param_id : 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 (char) param_value : Onboard parameter value (float) param_type : Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. (uint8_t)
§ param_set_send()
| def mavlink_px4.MAVLink.param_set_send | ( | self, | |
| target_system, | |||
| target_component, | |||
| param_id, | |||
| param_value, | |||
| param_type | |||
| ) |
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. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) param_id : 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 (char) param_value : Onboard parameter value (float) param_type : Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. (uint8_t)
§ param_value_encode()
| def mavlink_px4.MAVLink.param_value_encode | ( | self, | |
| param_id, | |||
| param_value, | |||
| param_type, | |||
| param_count, | |||
| param_index | |||
| ) |
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. param_id : 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 (char) param_value : Onboard parameter value (float) param_type : Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. (uint8_t) param_count : Total number of onboard parameters (uint16_t) param_index : Index of this onboard parameter (uint16_t)
§ param_value_send()
| def mavlink_px4.MAVLink.param_value_send | ( | self, | |
| param_id, | |||
| param_value, | |||
| param_type, | |||
| param_count, | |||
| param_index | |||
| ) |
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. param_id : 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 (char) param_value : Onboard parameter value (float) param_type : Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. (uint8_t) param_count : Total number of onboard parameters (uint16_t) param_index : Index of this onboard parameter (uint16_t)
§ parse_buffer()
| def mavlink_px4.MAVLink.parse_buffer | ( | self, | |
| s | |||
| ) |
input some data bytes, possibly returning a list of new messages
§ parse_char()
| def mavlink_px4.MAVLink.parse_char | ( | self, | |
| c | |||
| ) |
input some data bytes, possibly returning a new message
§ ping_encode()
| def mavlink_px4.MAVLink.ping_encode | ( | self, | |
| time_usec, | |||
| seq, | |||
| target_system, | |||
| target_component | |||
| ) |
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. time_usec : Unix timestamp in microseconds (uint64_t) seq : PING sequence (uint32_t) target_system : 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 (uint8_t) target_component : 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 (uint8_t)
§ ping_send()
| def mavlink_px4.MAVLink.ping_send | ( | self, | |
| time_usec, | |||
| seq, | |||
| target_system, | |||
| target_component | |||
| ) |
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. time_usec : Unix timestamp in microseconds (uint64_t) seq : PING sequence (uint32_t) target_system : 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 (uint8_t) target_component : 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 (uint8_t)
§ raw_imu_encode()
| def mavlink_px4.MAVLink.raw_imu_encode | ( | self, | |
| time_usec, | |||
| xacc, | |||
| yacc, | |||
| zacc, | |||
| xgyro, | |||
| ygyro, | |||
| zgyro, | |||
| xmag, | |||
| ymag, | |||
| zmag | |||
| ) |
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. time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) xacc : X acceleration (raw) (int16_t) yacc : Y acceleration (raw) (int16_t) zacc : Z acceleration (raw) (int16_t) xgyro : Angular speed around X axis (raw) (int16_t) ygyro : Angular speed around Y axis (raw) (int16_t) zgyro : Angular speed around Z axis (raw) (int16_t) xmag : X Magnetic field (raw) (int16_t) ymag : Y Magnetic field (raw) (int16_t) zmag : Z Magnetic field (raw) (int16_t)
§ raw_imu_send()
| def mavlink_px4.MAVLink.raw_imu_send | ( | self, | |
| time_usec, | |||
| xacc, | |||
| yacc, | |||
| zacc, | |||
| xgyro, | |||
| ygyro, | |||
| zgyro, | |||
| xmag, | |||
| ymag, | |||
| zmag | |||
| ) |
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. time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) xacc : X acceleration (raw) (int16_t) yacc : Y acceleration (raw) (int16_t) zacc : Z acceleration (raw) (int16_t) xgyro : Angular speed around X axis (raw) (int16_t) ygyro : Angular speed around Y axis (raw) (int16_t) zgyro : Angular speed around Z axis (raw) (int16_t) xmag : X Magnetic field (raw) (int16_t) ymag : Y Magnetic field (raw) (int16_t) zmag : Z Magnetic field (raw) (int16_t)
§ raw_pressure_encode()
| def mavlink_px4.MAVLink.raw_pressure_encode | ( | self, | |
| time_usec, | |||
| press_abs, | |||
| press_diff1, | |||
| press_diff2, | |||
| temperature | |||
| ) |
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. time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) press_abs : Absolute pressure (raw) (int16_t) press_diff1 : Differential pressure 1 (raw) (int16_t) press_diff2 : Differential pressure 2 (raw) (int16_t) temperature : Raw Temperature measurement (raw) (int16_t)
§ raw_pressure_send()
| def mavlink_px4.MAVLink.raw_pressure_send | ( | self, | |
| time_usec, | |||
| press_abs, | |||
| press_diff1, | |||
| press_diff2, | |||
| temperature | |||
| ) |
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. time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) press_abs : Absolute pressure (raw) (int16_t) press_diff1 : Differential pressure 1 (raw) (int16_t) press_diff2 : Differential pressure 2 (raw) (int16_t) temperature : Raw Temperature measurement (raw) (int16_t)
§ rc_channels_override_encode()
| def mavlink_px4.MAVLink.rc_channels_override_encode | ( | self, | |
| target_system, | |||
| target_component, | |||
| chan1_raw, | |||
| chan2_raw, | |||
| chan3_raw, | |||
| chan4_raw, | |||
| chan5_raw, | |||
| chan6_raw, | |||
| chan7_raw, | |||
| chan8_raw | |||
| ) |
The RAW values of the RC channels sent to the MAV to override info received from the RC radio. A value of -1 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. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) chan1_raw : RC channel 1 value, in microseconds (uint16_t) chan2_raw : RC channel 2 value, in microseconds (uint16_t) chan3_raw : RC channel 3 value, in microseconds (uint16_t) chan4_raw : RC channel 4 value, in microseconds (uint16_t) chan5_raw : RC channel 5 value, in microseconds (uint16_t) chan6_raw : RC channel 6 value, in microseconds (uint16_t) chan7_raw : RC channel 7 value, in microseconds (uint16_t) chan8_raw : RC channel 8 value, in microseconds (uint16_t)
§ rc_channels_override_send()
| def mavlink_px4.MAVLink.rc_channels_override_send | ( | self, | |
| target_system, | |||
| target_component, | |||
| chan1_raw, | |||
| chan2_raw, | |||
| chan3_raw, | |||
| chan4_raw, | |||
| chan5_raw, | |||
| chan6_raw, | |||
| chan7_raw, | |||
| chan8_raw | |||
| ) |
The RAW values of the RC channels sent to the MAV to override info received from the RC radio. A value of -1 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. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) chan1_raw : RC channel 1 value, in microseconds (uint16_t) chan2_raw : RC channel 2 value, in microseconds (uint16_t) chan3_raw : RC channel 3 value, in microseconds (uint16_t) chan4_raw : RC channel 4 value, in microseconds (uint16_t) chan5_raw : RC channel 5 value, in microseconds (uint16_t) chan6_raw : RC channel 6 value, in microseconds (uint16_t) chan7_raw : RC channel 7 value, in microseconds (uint16_t) chan8_raw : RC channel 8 value, in microseconds (uint16_t)
§ rc_channels_raw_encode()
| def mavlink_px4.MAVLink.rc_channels_raw_encode | ( | self, | |
| time_boot_ms, | |||
| port, | |||
| chan1_raw, | |||
| chan2_raw, | |||
| chan3_raw, | |||
| chan4_raw, | |||
| chan5_raw, | |||
| chan6_raw, | |||
| chan7_raw, | |||
| chan8_raw, | |||
| rssi | |||
| ) |
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. time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. (uint8_t) chan1_raw : RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) chan2_raw : RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) chan3_raw : RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) chan4_raw : RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) chan5_raw : RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) chan6_raw : RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) chan7_raw : RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) chan8_raw : RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) rssi : Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. (uint8_t)
§ rc_channels_raw_send()
| def mavlink_px4.MAVLink.rc_channels_raw_send | ( | self, | |
| time_boot_ms, | |||
| port, | |||
| chan1_raw, | |||
| chan2_raw, | |||
| chan3_raw, | |||
| chan4_raw, | |||
| chan5_raw, | |||
| chan6_raw, | |||
| chan7_raw, | |||
| chan8_raw, | |||
| rssi | |||
| ) |
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. time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. (uint8_t) chan1_raw : RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) chan2_raw : RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) chan3_raw : RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) chan4_raw : RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) chan5_raw : RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) chan6_raw : RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) chan7_raw : RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) chan8_raw : RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused. (uint16_t) rssi : Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. (uint8_t)
§ rc_channels_scaled_encode()
| def mavlink_px4.MAVLink.rc_channels_scaled_encode | ( | self, | |
| time_boot_ms, | |||
| port, | |||
| chan1_scaled, | |||
| chan2_scaled, | |||
| chan3_scaled, | |||
| chan4_scaled, | |||
| chan5_scaled, | |||
| chan6_scaled, | |||
| chan7_scaled, | |||
| chan8_scaled, | |||
| rssi | |||
| ) |
The scaled values of the RC channels received. (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to 65535. time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. (uint8_t) chan1_scaled : RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) chan2_scaled : RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) chan3_scaled : RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) chan4_scaled : RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) chan5_scaled : RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) chan6_scaled : RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) chan7_scaled : RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) chan8_scaled : RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) rssi : Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. (uint8_t)
§ rc_channels_scaled_send()
| def mavlink_px4.MAVLink.rc_channels_scaled_send | ( | self, | |
| time_boot_ms, | |||
| port, | |||
| chan1_scaled, | |||
| chan2_scaled, | |||
| chan3_scaled, | |||
| chan4_scaled, | |||
| chan5_scaled, | |||
| chan6_scaled, | |||
| chan7_scaled, | |||
| chan8_scaled, | |||
| rssi | |||
| ) |
The scaled values of the RC channels received. (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to 65535. time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. (uint8_t) chan1_scaled : RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) chan2_scaled : RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) chan3_scaled : RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) chan4_scaled : RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) chan5_scaled : RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) chan6_scaled : RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) chan7_scaled : RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) chan8_scaled : RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767. (int16_t) rssi : Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. (uint8_t)
§ request_data_stream_encode()
| def mavlink_px4.MAVLink.request_data_stream_encode | ( | self, | |
| target_system, | |||
| target_component, | |||
| req_stream_id, | |||
| req_message_rate, | |||
| start_stop | |||
| ) |
target_system : The target requested to send the message stream. (uint8_t) target_component : The target requested to send the message stream. (uint8_t) req_stream_id : The ID of the requested data stream (uint8_t) req_message_rate : The requested interval between two messages of this type (uint16_t) start_stop : 1 to start sending, 0 to stop sending. (uint8_t)
§ request_data_stream_send()
| def mavlink_px4.MAVLink.request_data_stream_send | ( | self, | |
| target_system, | |||
| target_component, | |||
| req_stream_id, | |||
| req_message_rate, | |||
| start_stop | |||
| ) |
target_system : The target requested to send the message stream. (uint8_t) target_component : The target requested to send the message stream. (uint8_t) req_stream_id : The ID of the requested data stream (uint8_t) req_message_rate : The requested interval between two messages of this type (uint16_t) start_stop : 1 to start sending, 0 to stop sending. (uint8_t)
§ roll_pitch_yaw_rates_thrust_setpoint_encode()
| def mavlink_px4.MAVLink.roll_pitch_yaw_rates_thrust_setpoint_encode | ( | self, | |
| time_boot_ms, | |||
| roll_rate, | |||
| pitch_rate, | |||
| yaw_rate, | |||
| thrust | |||
| ) |
Setpoint in roll, pitch, yaw rates and thrust currently active on the system. time_boot_ms : Timestamp in milliseconds since system boot (uint32_t) roll_rate : Desired roll rate in radians per second (float) pitch_rate : Desired pitch rate in radians per second (float) yaw_rate : Desired yaw rate in radians per second (float) thrust : Collective thrust, normalized to 0 .. 1 (float)
§ roll_pitch_yaw_rates_thrust_setpoint_send()
| def mavlink_px4.MAVLink.roll_pitch_yaw_rates_thrust_setpoint_send | ( | self, | |
| time_boot_ms, | |||
| roll_rate, | |||
| pitch_rate, | |||
| yaw_rate, | |||
| thrust | |||
| ) |
Setpoint in roll, pitch, yaw rates and thrust currently active on the system. time_boot_ms : Timestamp in milliseconds since system boot (uint32_t) roll_rate : Desired roll rate in radians per second (float) pitch_rate : Desired pitch rate in radians per second (float) yaw_rate : Desired yaw rate in radians per second (float) thrust : Collective thrust, normalized to 0 .. 1 (float)
§ roll_pitch_yaw_speed_thrust_setpoint_encode()
| def mavlink_px4.MAVLink.roll_pitch_yaw_speed_thrust_setpoint_encode | ( | self, | |
| time_boot_ms, | |||
| roll_speed, | |||
| pitch_speed, | |||
| yaw_speed, | |||
| thrust | |||
| ) |
Setpoint in rollspeed, pitchspeed, yawspeed currently active on the system. time_boot_ms : Timestamp in milliseconds since system boot (uint32_t) roll_speed : Desired roll angular speed in rad/s (float) pitch_speed : Desired pitch angular speed in rad/s (float) yaw_speed : Desired yaw angular speed in rad/s (float) thrust : Collective thrust, normalized to 0 .. 1 (float)
§ roll_pitch_yaw_speed_thrust_setpoint_send()
| def mavlink_px4.MAVLink.roll_pitch_yaw_speed_thrust_setpoint_send | ( | self, | |
| time_boot_ms, | |||
| roll_speed, | |||
| pitch_speed, | |||
| yaw_speed, | |||
| thrust | |||
| ) |
Setpoint in rollspeed, pitchspeed, yawspeed currently active on the system. time_boot_ms : Timestamp in milliseconds since system boot (uint32_t) roll_speed : Desired roll angular speed in rad/s (float) pitch_speed : Desired pitch angular speed in rad/s (float) yaw_speed : Desired yaw angular speed in rad/s (float) thrust : Collective thrust, normalized to 0 .. 1 (float)
§ roll_pitch_yaw_thrust_setpoint_encode()
| def mavlink_px4.MAVLink.roll_pitch_yaw_thrust_setpoint_encode | ( | self, | |
| time_boot_ms, | |||
| roll, | |||
| pitch, | |||
| yaw, | |||
| thrust | |||
| ) |
Setpoint in roll, pitch, yaw currently active on the system. time_boot_ms : Timestamp in milliseconds since system boot (uint32_t) roll : Desired roll angle in radians (float) pitch : Desired pitch angle in radians (float) yaw : Desired yaw angle in radians (float) thrust : Collective thrust, normalized to 0 .. 1 (float)
§ roll_pitch_yaw_thrust_setpoint_send()
| def mavlink_px4.MAVLink.roll_pitch_yaw_thrust_setpoint_send | ( | self, | |
| time_boot_ms, | |||
| roll, | |||
| pitch, | |||
| yaw, | |||
| thrust | |||
| ) |
Setpoint in roll, pitch, yaw currently active on the system. time_boot_ms : Timestamp in milliseconds since system boot (uint32_t) roll : Desired roll angle in radians (float) pitch : Desired pitch angle in radians (float) yaw : Desired yaw angle in radians (float) thrust : Collective thrust, normalized to 0 .. 1 (float)
§ safety_allowed_area_encode()
| def mavlink_px4.MAVLink.safety_allowed_area_encode | ( | self, | |
| frame, | |||
| p1x, | |||
| p1y, | |||
| p1z, | |||
| p2x, | |||
| p2y, | |||
| p2z | |||
| ) |
Read out the safety zone the MAV currently assumes. frame : 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. (uint8_t) p1x : x position 1 / Latitude 1 (float) p1y : y position 1 / Longitude 1 (float) p1z : z position 1 / Altitude 1 (float) p2x : x position 2 / Latitude 2 (float) p2y : y position 2 / Longitude 2 (float) p2z : z position 2 / Altitude 2 (float)
§ safety_allowed_area_send()
| def mavlink_px4.MAVLink.safety_allowed_area_send | ( | self, | |
| frame, | |||
| p1x, | |||
| p1y, | |||
| p1z, | |||
| p2x, | |||
| p2y, | |||
| p2z | |||
| ) |
Read out the safety zone the MAV currently assumes. frame : 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. (uint8_t) p1x : x position 1 / Latitude 1 (float) p1y : y position 1 / Longitude 1 (float) p1z : z position 1 / Altitude 1 (float) p2x : x position 2 / Latitude 2 (float) p2y : y position 2 / Longitude 2 (float) p2z : z position 2 / Altitude 2 (float)
§ safety_set_allowed_area_encode()
| def mavlink_px4.MAVLink.safety_set_allowed_area_encode | ( | self, | |
| target_system, | |||
| target_component, | |||
| frame, | |||
| p1x, | |||
| p1y, | |||
| p1z, | |||
| p2x, | |||
| p2y, | |||
| p2z | |||
| ) |
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. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) frame : 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. (uint8_t) p1x : x position 1 / Latitude 1 (float) p1y : y position 1 / Longitude 1 (float) p1z : z position 1 / Altitude 1 (float) p2x : x position 2 / Latitude 2 (float) p2y : y position 2 / Longitude 2 (float) p2z : z position 2 / Altitude 2 (float)
§ safety_set_allowed_area_send()
| def mavlink_px4.MAVLink.safety_set_allowed_area_send | ( | self, | |
| target_system, | |||
| target_component, | |||
| frame, | |||
| p1x, | |||
| p1y, | |||
| p1z, | |||
| p2x, | |||
| p2y, | |||
| p2z | |||
| ) |
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. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) frame : 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. (uint8_t) p1x : x position 1 / Latitude 1 (float) p1y : y position 1 / Longitude 1 (float) p1z : z position 1 / Altitude 1 (float) p2x : x position 2 / Latitude 2 (float) p2y : y position 2 / Longitude 2 (float) p2z : z position 2 / Altitude 2 (float)
§ scaled_imu_encode()
| def mavlink_px4.MAVLink.scaled_imu_encode | ( | self, | |
| time_boot_ms, | |||
| xacc, | |||
| yacc, | |||
| zacc, | |||
| xgyro, | |||
| ygyro, | |||
| zgyro, | |||
| xmag, | |||
| ymag, | |||
| zmag | |||
| ) |
The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) xacc : X acceleration (mg) (int16_t) yacc : Y acceleration (mg) (int16_t) zacc : Z acceleration (mg) (int16_t) xgyro : Angular speed around X axis (millirad /sec) (int16_t) ygyro : Angular speed around Y axis (millirad /sec) (int16_t) zgyro : Angular speed around Z axis (millirad /sec) (int16_t) xmag : X Magnetic field (milli tesla) (int16_t) ymag : Y Magnetic field (milli tesla) (int16_t) zmag : Z Magnetic field (milli tesla) (int16_t)
§ scaled_imu_send()
| def mavlink_px4.MAVLink.scaled_imu_send | ( | self, | |
| time_boot_ms, | |||
| xacc, | |||
| yacc, | |||
| zacc, | |||
| xgyro, | |||
| ygyro, | |||
| zgyro, | |||
| xmag, | |||
| ymag, | |||
| zmag | |||
| ) |
The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) xacc : X acceleration (mg) (int16_t) yacc : Y acceleration (mg) (int16_t) zacc : Z acceleration (mg) (int16_t) xgyro : Angular speed around X axis (millirad /sec) (int16_t) ygyro : Angular speed around Y axis (millirad /sec) (int16_t) zgyro : Angular speed around Z axis (millirad /sec) (int16_t) xmag : X Magnetic field (milli tesla) (int16_t) ymag : Y Magnetic field (milli tesla) (int16_t) zmag : Z Magnetic field (milli tesla) (int16_t)
§ scaled_pressure_encode()
| def mavlink_px4.MAVLink.scaled_pressure_encode | ( | self, | |
| time_boot_ms, | |||
| press_abs, | |||
| press_diff, | |||
| temperature | |||
| ) |
The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field. time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) press_abs : Absolute pressure (hectopascal) (float) press_diff : Differential pressure 1 (hectopascal) (float) temperature : Temperature measurement (0.01 degrees celsius) (int16_t)
§ scaled_pressure_send()
| def mavlink_px4.MAVLink.scaled_pressure_send | ( | self, | |
| time_boot_ms, | |||
| press_abs, | |||
| press_diff, | |||
| temperature | |||
| ) |
The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field. time_boot_ms : Timestamp (milliseconds since system boot) (uint32_t) press_abs : Absolute pressure (hectopascal) (float) press_diff : Differential pressure 1 (hectopascal) (float) temperature : Temperature measurement (0.01 degrees celsius) (int16_t)
§ send()
| def mavlink_px4.MAVLink.send | ( | self, | |
| mavmsg | |||
| ) |
send a MAVLink message
§ servo_output_raw_encode()
| def mavlink_px4.MAVLink.servo_output_raw_encode | ( | self, | |
| time_boot_ms, | |||
| port, | |||
| servo1_raw, | |||
| servo2_raw, | |||
| servo3_raw, | |||
| servo4_raw, | |||
| servo5_raw, | |||
| servo6_raw, | |||
| servo7_raw, | |||
| servo8_raw | |||
| ) |
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%. time_boot_ms : Timestamp (microseconds since system boot) (uint32_t) port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. (uint8_t) servo1_raw : Servo output 1 value, in microseconds (uint16_t) servo2_raw : Servo output 2 value, in microseconds (uint16_t) servo3_raw : Servo output 3 value, in microseconds (uint16_t) servo4_raw : Servo output 4 value, in microseconds (uint16_t) servo5_raw : Servo output 5 value, in microseconds (uint16_t) servo6_raw : Servo output 6 value, in microseconds (uint16_t) servo7_raw : Servo output 7 value, in microseconds (uint16_t) servo8_raw : Servo output 8 value, in microseconds (uint16_t)
§ servo_output_raw_send()
| def mavlink_px4.MAVLink.servo_output_raw_send | ( | self, | |
| time_boot_ms, | |||
| port, | |||
| servo1_raw, | |||
| servo2_raw, | |||
| servo3_raw, | |||
| servo4_raw, | |||
| servo5_raw, | |||
| servo6_raw, | |||
| servo7_raw, | |||
| servo8_raw | |||
| ) |
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%. time_boot_ms : Timestamp (microseconds since system boot) (uint32_t) port : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. (uint8_t) servo1_raw : Servo output 1 value, in microseconds (uint16_t) servo2_raw : Servo output 2 value, in microseconds (uint16_t) servo3_raw : Servo output 3 value, in microseconds (uint16_t) servo4_raw : Servo output 4 value, in microseconds (uint16_t) servo5_raw : Servo output 5 value, in microseconds (uint16_t) servo6_raw : Servo output 6 value, in microseconds (uint16_t) servo7_raw : Servo output 7 value, in microseconds (uint16_t) servo8_raw : Servo output 8 value, in microseconds (uint16_t)
§ set_global_position_setpoint_int_encode()
| def mavlink_px4.MAVLink.set_global_position_setpoint_int_encode | ( | self, | |
| coordinate_frame, | |||
| latitude, | |||
| longitude, | |||
| altitude, | |||
| yaw | |||
| ) |
Set the current global position setpoint. coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t) latitude : WGS84 Latitude position in degrees * 1E7 (int32_t) longitude : WGS84 Longitude position in degrees * 1E7 (int32_t) altitude : WGS84 Altitude in meters * 1000 (positive for up) (int32_t) yaw : Desired yaw angle in degrees * 100 (int16_t)
§ set_global_position_setpoint_int_send()
| def mavlink_px4.MAVLink.set_global_position_setpoint_int_send | ( | self, | |
| coordinate_frame, | |||
| latitude, | |||
| longitude, | |||
| altitude, | |||
| yaw | |||
| ) |
Set the current global position setpoint. coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t) latitude : WGS84 Latitude position in degrees * 1E7 (int32_t) longitude : WGS84 Longitude position in degrees * 1E7 (int32_t) altitude : WGS84 Altitude in meters * 1000 (positive for up) (int32_t) yaw : Desired yaw angle in degrees * 100 (int16_t)
§ set_gps_global_origin_encode()
| def mavlink_px4.MAVLink.set_gps_global_origin_encode | ( | self, | |
| target_system, | |||
| latitude, | |||
| longitude, | |||
| altitude | |||
| ) |
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. target_system : System ID (uint8_t) latitude : global position * 1E7 (int32_t) longitude : global position * 1E7 (int32_t) altitude : global position * 1000 (int32_t)
§ set_gps_global_origin_send()
| def mavlink_px4.MAVLink.set_gps_global_origin_send | ( | self, | |
| target_system, | |||
| latitude, | |||
| longitude, | |||
| altitude | |||
| ) |
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. target_system : System ID (uint8_t) latitude : global position * 1E7 (int32_t) longitude : global position * 1E7 (int32_t) altitude : global position * 1000 (int32_t)
§ set_local_position_setpoint_encode()
| def mavlink_px4.MAVLink.set_local_position_setpoint_encode | ( | self, | |
| target_system, | |||
| target_component, | |||
| coordinate_frame, | |||
| x, | |||
| y, | |||
| z, | |||
| yaw | |||
| ) |
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. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t) x : x position (float) y : y position (float) z : z position (float) yaw : Desired yaw angle (float)
§ set_local_position_setpoint_send()
| def mavlink_px4.MAVLink.set_local_position_setpoint_send | ( | self, | |
| target_system, | |||
| target_component, | |||
| coordinate_frame, | |||
| x, | |||
| y, | |||
| z, | |||
| yaw | |||
| ) |
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. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) coordinate_frame : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t) x : x position (float) y : y position (float) z : z position (float) yaw : Desired yaw angle (float)
§ set_mode_encode()
| def mavlink_px4.MAVLink.set_mode_encode | ( | self, | |
| target_system, | |||
| base_mode, | |||
| custom_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. target_system : The system setting the mode (uint8_t) base_mode : The new base mode (uint8_t) custom_mode : The new autopilot-specific mode. This field can be ignored by an autopilot. (uint32_t)
§ set_mode_send()
| def mavlink_px4.MAVLink.set_mode_send | ( | self, | |
| target_system, | |||
| base_mode, | |||
| custom_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. target_system : The system setting the mode (uint8_t) base_mode : The new base mode (uint8_t) custom_mode : The new autopilot-specific mode. This field can be ignored by an autopilot. (uint32_t)
§ set_quad_motors_setpoint_encode()
| def mavlink_px4.MAVLink.set_quad_motors_setpoint_encode | ( | self, | |
| target_system, | |||
| motor_front_nw, | |||
| motor_right_ne, | |||
| motor_back_se, | |||
| motor_left_sw | |||
| ) |
Setpoint in the four motor speeds target_system : System ID of the system that should set these motor commands (uint8_t) motor_front_nw : Front motor in + configuration, front left motor in x configuration (uint16_t) motor_right_ne : Right motor in + configuration, front right motor in x configuration (uint16_t) motor_back_se : Back motor in + configuration, back right motor in x configuration (uint16_t) motor_left_sw : Left motor in + configuration, back left motor in x configuration (uint16_t)
§ set_quad_motors_setpoint_send()
| def mavlink_px4.MAVLink.set_quad_motors_setpoint_send | ( | self, | |
| target_system, | |||
| motor_front_nw, | |||
| motor_right_ne, | |||
| motor_back_se, | |||
| motor_left_sw | |||
| ) |
Setpoint in the four motor speeds target_system : System ID of the system that should set these motor commands (uint8_t) motor_front_nw : Front motor in + configuration, front left motor in x configuration (uint16_t) motor_right_ne : Right motor in + configuration, front right motor in x configuration (uint16_t) motor_back_se : Back motor in + configuration, back right motor in x configuration (uint16_t) motor_left_sw : Left motor in + configuration, back left motor in x configuration (uint16_t)
§ set_quad_swarm_led_roll_pitch_yaw_thrust_encode()
| def mavlink_px4.MAVLink.set_quad_swarm_led_roll_pitch_yaw_thrust_encode | ( | self, | |
| group, | |||
| mode, | |||
| led_red, | |||
| led_blue, | |||
| led_green, | |||
| roll, | |||
| pitch, | |||
| yaw, | |||
| thrust | |||
| ) |
Setpoint for up to four quadrotors in a group / wing group : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t) mode : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t) led_red : RGB red channel (0-255) (uint8_t) led_blue : RGB green channel (0-255) (uint8_t) led_green : RGB blue channel (0-255) (uint8_t) roll : Desired roll angle in radians +-PI (+-32767) (int16_t) pitch : Desired pitch angle in radians +-PI (+-32767) (int16_t) yaw : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t) thrust : Collective thrust, scaled to uint16 (0..65535) (uint16_t)
§ set_quad_swarm_led_roll_pitch_yaw_thrust_send()
| def mavlink_px4.MAVLink.set_quad_swarm_led_roll_pitch_yaw_thrust_send | ( | self, | |
| group, | |||
| mode, | |||
| led_red, | |||
| led_blue, | |||
| led_green, | |||
| roll, | |||
| pitch, | |||
| yaw, | |||
| thrust | |||
| ) |
Setpoint for up to four quadrotors in a group / wing group : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t) mode : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t) led_red : RGB red channel (0-255) (uint8_t) led_blue : RGB green channel (0-255) (uint8_t) led_green : RGB blue channel (0-255) (uint8_t) roll : Desired roll angle in radians +-PI (+-32767) (int16_t) pitch : Desired pitch angle in radians +-PI (+-32767) (int16_t) yaw : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t) thrust : Collective thrust, scaled to uint16 (0..65535) (uint16_t)
§ set_quad_swarm_roll_pitch_yaw_thrust_encode()
| def mavlink_px4.MAVLink.set_quad_swarm_roll_pitch_yaw_thrust_encode | ( | self, | |
| group, | |||
| mode, | |||
| roll, | |||
| pitch, | |||
| yaw, | |||
| thrust | |||
| ) |
Setpoint for up to four quadrotors in a group / wing group : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t) mode : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t) roll : Desired roll angle in radians +-PI (+-32767) (int16_t) pitch : Desired pitch angle in radians +-PI (+-32767) (int16_t) yaw : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t) thrust : Collective thrust, scaled to uint16 (0..65535) (uint16_t)
§ set_quad_swarm_roll_pitch_yaw_thrust_send()
| def mavlink_px4.MAVLink.set_quad_swarm_roll_pitch_yaw_thrust_send | ( | self, | |
| group, | |||
| mode, | |||
| roll, | |||
| pitch, | |||
| yaw, | |||
| thrust | |||
| ) |
Setpoint for up to four quadrotors in a group / wing group : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t) mode : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t) roll : Desired roll angle in radians +-PI (+-32767) (int16_t) pitch : Desired pitch angle in radians +-PI (+-32767) (int16_t) yaw : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t) thrust : Collective thrust, scaled to uint16 (0..65535) (uint16_t)
§ set_roll_pitch_yaw_speed_thrust_encode()
| def mavlink_px4.MAVLink.set_roll_pitch_yaw_speed_thrust_encode | ( | self, | |
| target_system, | |||
| target_component, | |||
| roll_speed, | |||
| pitch_speed, | |||
| yaw_speed, | |||
| thrust | |||
| ) |
Set roll, pitch and yaw. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) roll_speed : Desired roll angular speed in rad/s (float) pitch_speed : Desired pitch angular speed in rad/s (float) yaw_speed : Desired yaw angular speed in rad/s (float) thrust : Collective thrust, normalized to 0 .. 1 (float)
§ set_roll_pitch_yaw_speed_thrust_send()
| def mavlink_px4.MAVLink.set_roll_pitch_yaw_speed_thrust_send | ( | self, | |
| target_system, | |||
| target_component, | |||
| roll_speed, | |||
| pitch_speed, | |||
| yaw_speed, | |||
| thrust | |||
| ) |
Set roll, pitch and yaw. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) roll_speed : Desired roll angular speed in rad/s (float) pitch_speed : Desired pitch angular speed in rad/s (float) yaw_speed : Desired yaw angular speed in rad/s (float) thrust : Collective thrust, normalized to 0 .. 1 (float)
§ set_roll_pitch_yaw_thrust_encode()
| def mavlink_px4.MAVLink.set_roll_pitch_yaw_thrust_encode | ( | self, | |
| target_system, | |||
| target_component, | |||
| roll, | |||
| pitch, | |||
| yaw, | |||
| thrust | |||
| ) |
Set roll, pitch and yaw. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) roll : Desired roll angle in radians (float) pitch : Desired pitch angle in radians (float) yaw : Desired yaw angle in radians (float) thrust : Collective thrust, normalized to 0 .. 1 (float)
§ set_roll_pitch_yaw_thrust_send()
| def mavlink_px4.MAVLink.set_roll_pitch_yaw_thrust_send | ( | self, | |
| target_system, | |||
| target_component, | |||
| roll, | |||
| pitch, | |||
| yaw, | |||
| thrust | |||
| ) |
Set roll, pitch and yaw. target_system : System ID (uint8_t) target_component : Component ID (uint8_t) roll : Desired roll angle in radians (float) pitch : Desired pitch angle in radians (float) yaw : Desired yaw angle in radians (float) thrust : Collective thrust, normalized to 0 .. 1 (float)
§ setpoint_6dof_encode()
| def mavlink_px4.MAVLink.setpoint_6dof_encode | ( | self, | |
| target_system, | |||
| trans_x, | |||
| trans_y, | |||
| trans_z, | |||
| rot_x, | |||
| rot_y, | |||
| rot_z | |||
| ) |
Set the 6 DOF setpoint for a attitude and position controller. target_system : System ID (uint8_t) trans_x : Translational Component in x (float) trans_y : Translational Component in y (float) trans_z : Translational Component in z (float) rot_x : Rotational Component in x (float) rot_y : Rotational Component in y (float) rot_z : Rotational Component in z (float)
§ setpoint_6dof_send()
| def mavlink_px4.MAVLink.setpoint_6dof_send | ( | self, | |
| target_system, | |||
| trans_x, | |||
| trans_y, | |||
| trans_z, | |||
| rot_x, | |||
| rot_y, | |||
| rot_z | |||
| ) |
Set the 6 DOF setpoint for a attitude and position controller. target_system : System ID (uint8_t) trans_x : Translational Component in x (float) trans_y : Translational Component in y (float) trans_z : Translational Component in z (float) rot_x : Rotational Component in x (float) rot_y : Rotational Component in y (float) rot_z : Rotational Component in z (float)
§ setpoint_8dof_encode()
| def mavlink_px4.MAVLink.setpoint_8dof_encode | ( | self, | |
| target_system, | |||
| val1, | |||
| val2, | |||
| val3, | |||
| val4, | |||
| val5, | |||
| val6, | |||
| val7, | |||
| val8 | |||
| ) |
Set the 8 DOF setpoint for a controller. target_system : System ID (uint8_t) val1 : Value 1 (float) val2 : Value 2 (float) val3 : Value 3 (float) val4 : Value 4 (float) val5 : Value 5 (float) val6 : Value 6 (float) val7 : Value 7 (float) val8 : Value 8 (float)
§ setpoint_8dof_send()
| def mavlink_px4.MAVLink.setpoint_8dof_send | ( | self, | |
| target_system, | |||
| val1, | |||
| val2, | |||
| val3, | |||
| val4, | |||
| val5, | |||
| val6, | |||
| val7, | |||
| val8 | |||
| ) |
Set the 8 DOF setpoint for a controller. target_system : System ID (uint8_t) val1 : Value 1 (float) val2 : Value 2 (float) val3 : Value 3 (float) val4 : Value 4 (float) val5 : Value 5 (float) val6 : Value 6 (float) val7 : Value 7 (float) val8 : Value 8 (float)
§ state_correction_encode()
| def mavlink_px4.MAVLink.state_correction_encode | ( | self, | |
| xErr, | |||
| yErr, | |||
| zErr, | |||
| rollErr, | |||
| pitchErr, | |||
| yawErr, | |||
| vxErr, | |||
| vyErr, | |||
| vzErr | |||
| ) |
Corrects the systems state by adding an error correction term to the position and velocity, and by rotating the attitude by a correction angle. xErr : x position error (float) yErr : y position error (float) zErr : z position error (float) rollErr : roll error (radians) (float) pitchErr : pitch error (radians) (float) yawErr : yaw error (radians) (float) vxErr : x velocity (float) vyErr : y velocity (float) vzErr : z velocity (float)
§ state_correction_send()
| def mavlink_px4.MAVLink.state_correction_send | ( | self, | |
| xErr, | |||
| yErr, | |||
| zErr, | |||
| rollErr, | |||
| pitchErr, | |||
| yawErr, | |||
| vxErr, | |||
| vyErr, | |||
| vzErr | |||
| ) |
Corrects the systems state by adding an error correction term to the position and velocity, and by rotating the attitude by a correction angle. xErr : x position error (float) yErr : y position error (float) zErr : z position error (float) rollErr : roll error (radians) (float) pitchErr : pitch error (radians) (float) yawErr : yaw error (radians) (float) vxErr : x velocity (float) vyErr : y velocity (float) vzErr : z velocity (float)
§ statustext_encode()
| def mavlink_px4.MAVLink.statustext_encode | ( | self, | |
| severity, | |||
| text | |||
| ) |
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). severity : Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY. (uint8_t) text : Status text message, without null termination character (char)
§ statustext_send()
| def mavlink_px4.MAVLink.statustext_send | ( | self, | |
| severity, | |||
| text | |||
| ) |
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). severity : Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY. (uint8_t) text : Status text message, without null termination character (char)
§ sys_status_encode()
| def mavlink_px4.MAVLink.sys_status_encode | ( | self, | |
| onboard_control_sensors_present, | |||
| onboard_control_sensors_enabled, | |||
| onboard_control_sensors_health, | |||
| load, | |||
| voltage_battery, | |||
| current_battery, | |||
| battery_remaining, | |||
| drop_rate_comm, | |||
| errors_comm, | |||
| errors_count1, | |||
| errors_count2, | |||
| errors_count3, | |||
| errors_count4 | |||
| ) |
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. onboard_control_sensors_present : Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t) onboard_control_sensors_enabled : Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t) onboard_control_sensors_health : Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t) load : Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t) voltage_battery : Battery voltage, in millivolts (1 = 1 millivolt) (uint16_t) current_battery : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t) battery_remaining : Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery (int8_t) drop_rate_comm : 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) (uint16_t) errors_comm : Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t) errors_count1 : Autopilot-specific errors (uint16_t) errors_count2 : Autopilot-specific errors (uint16_t) errors_count3 : Autopilot-specific errors (uint16_t) errors_count4 : Autopilot-specific errors (uint16_t)
§ sys_status_send()
| def mavlink_px4.MAVLink.sys_status_send | ( | self, | |
| onboard_control_sensors_present, | |||
| onboard_control_sensors_enabled, | |||
| onboard_control_sensors_health, | |||
| load, | |||
| voltage_battery, | |||
| current_battery, | |||
| battery_remaining, | |||
| drop_rate_comm, | |||
| errors_comm, | |||
| errors_count1, | |||
| errors_count2, | |||
| errors_count3, | |||
| errors_count4 | |||
| ) |
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. onboard_control_sensors_present : Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t) onboard_control_sensors_enabled : Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t) onboard_control_sensors_health : Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t) load : Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t) voltage_battery : Battery voltage, in millivolts (1 = 1 millivolt) (uint16_t) current_battery : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t) battery_remaining : Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery (int8_t) drop_rate_comm : 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) (uint16_t) errors_comm : Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t) errors_count1 : Autopilot-specific errors (uint16_t) errors_count2 : Autopilot-specific errors (uint16_t) errors_count3 : Autopilot-specific errors (uint16_t) errors_count4 : Autopilot-specific errors (uint16_t)
§ system_time_encode()
| def mavlink_px4.MAVLink.system_time_encode | ( | self, | |
| time_unix_usec, | |||
| time_boot_ms | |||
| ) |
The system time is the time of the master clock, typically the computer clock of the main onboard computer. time_unix_usec : Timestamp of the master clock in microseconds since UNIX epoch. (uint64_t) time_boot_ms : Timestamp of the component clock since boot time in milliseconds. (uint32_t)
§ system_time_send()
| def mavlink_px4.MAVLink.system_time_send | ( | self, | |
| time_unix_usec, | |||
| time_boot_ms | |||
| ) |
The system time is the time of the master clock, typically the computer clock of the main onboard computer. time_unix_usec : Timestamp of the master clock in microseconds since UNIX epoch. (uint64_t) time_boot_ms : Timestamp of the component clock since boot time in milliseconds. (uint32_t)
§ vfr_hud_encode()
| def mavlink_px4.MAVLink.vfr_hud_encode | ( | self, | |
| airspeed, | |||
| groundspeed, | |||
| heading, | |||
| throttle, | |||
| alt, | |||
| climb | |||
| ) |
Metrics typically displayed on a HUD for fixed wing aircraft airspeed : Current airspeed in m/s (float) groundspeed : Current ground speed in m/s (float) heading : Current heading in degrees, in compass units (0..360, 0=north) (int16_t) throttle : Current throttle setting in integer percent, 0 to 100 (uint16_t) alt : Current altitude (MSL), in meters (float) climb : Current climb rate in meters/second (float)
§ vfr_hud_send()
| def mavlink_px4.MAVLink.vfr_hud_send | ( | self, | |
| airspeed, | |||
| groundspeed, | |||
| heading, | |||
| throttle, | |||
| alt, | |||
| climb | |||
| ) |
Metrics typically displayed on a HUD for fixed wing aircraft airspeed : Current airspeed in m/s (float) groundspeed : Current ground speed in m/s (float) heading : Current heading in degrees, in compass units (0..360, 0=north) (int16_t) throttle : Current throttle setting in integer percent, 0 to 100 (uint16_t) alt : Current altitude (MSL), in meters (float) climb : Current climb rate in meters/second (float)
§ vicon_position_estimate_encode()
| def mavlink_px4.MAVLink.vicon_position_estimate_encode | ( | self, | |
| usec, | |||
| x, | |||
| y, | |||
| z, | |||
| roll, | |||
| pitch, | |||
| yaw | |||
| ) |
usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) x : Global X position (float) y : Global Y position (float) z : Global Z position (float) roll : Roll angle in rad (float) pitch : Pitch angle in rad (float) yaw : Yaw angle in rad (float)
§ vicon_position_estimate_send()
| def mavlink_px4.MAVLink.vicon_position_estimate_send | ( | self, | |
| usec, | |||
| x, | |||
| y, | |||
| z, | |||
| roll, | |||
| pitch, | |||
| yaw | |||
| ) |
usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) x : Global X position (float) y : Global Y position (float) z : Global Z position (float) roll : Roll angle in rad (float) pitch : Pitch angle in rad (float) yaw : Yaw angle in rad (float)
§ vision_position_estimate_encode()
| def mavlink_px4.MAVLink.vision_position_estimate_encode | ( | self, | |
| usec, | |||
| x, | |||
| y, | |||
| z, | |||
| roll, | |||
| pitch, | |||
| yaw | |||
| ) |
usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) x : Global X position (float) y : Global Y position (float) z : Global Z position (float) roll : Roll angle in rad (float) pitch : Pitch angle in rad (float) yaw : Yaw angle in rad (float)
§ vision_position_estimate_send()
| def mavlink_px4.MAVLink.vision_position_estimate_send | ( | self, | |
| usec, | |||
| x, | |||
| y, | |||
| z, | |||
| roll, | |||
| pitch, | |||
| yaw | |||
| ) |
usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) x : Global X position (float) y : Global Y position (float) z : Global Z position (float) roll : Roll angle in rad (float) pitch : Pitch angle in rad (float) yaw : Yaw angle in rad (float)
§ vision_speed_estimate_encode()
| def mavlink_px4.MAVLink.vision_speed_estimate_encode | ( | self, | |
| usec, | |||
| x, | |||
| y, | |||
| z | |||
| ) |
usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) x : Global X speed (float) y : Global Y speed (float) z : Global Z speed (float)
§ vision_speed_estimate_send()
| def mavlink_px4.MAVLink.vision_speed_estimate_send | ( | self, | |
| usec, | |||
| x, | |||
| y, | |||
| z | |||
| ) |
usec : Timestamp (microseconds, synced to UNIX time or since system boot) (uint64_t) x : Global X speed (float) y : Global Y speed (float) z : Global Z speed (float)
The documentation for this class was generated from the following file:
- Tools/mavlink_px4.py
