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common.xml
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<?xml version='1.0'?>
<mavlink>
<version>3</version>
<enums>
<enum name="MAV_AUTOPILOT">
<description>Micro air vehicle / autopilot classes. This identifies the individual model.</description>
<entry value="0" name="MAV_AUTOPILOT_GENERIC">
<description>Generic autopilot, full support for everything</description>
</entry>
<entry value="1" name="MAV_AUTOPILOT_PIXHAWK">
<description>PIXHAWK autopilot, http://pixhawk.ethz.ch</description>
</entry>
<entry value="2" name="MAV_AUTOPILOT_SLUGS">
<description>SLUGS autopilot, http://slugsuav.soe.ucsc.edu</description>
</entry>
<entry value="3" name="MAV_AUTOPILOT_ARDUPILOTMEGA">
<description>ArduPilotMega / ArduCopter, http://diydrones.com</description>
</entry>
<entry value="4" name="MAV_AUTOPILOT_OPENPILOT">
<description>OpenPilot, http://openpilot.org</description>
</entry>
<entry value="5" name="MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY">
<description>Generic autopilot only supporting simple waypoints</description>
</entry>
<entry value="6" name="MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY">
<description>Generic autopilot supporting waypoints and other simple navigation commands</description>
</entry>
<entry value="7" name="MAV_AUTOPILOT_GENERIC_MISSION_FULL">
<description>Generic autopilot supporting the full mission command set</description>
</entry>
<entry value="8" name="MAV_AUTOPILOT_INVALID">
<description>No valid autopilot, e.g. a GCS or other MAVLink component</description>
</entry>
<entry value="9" name="MAV_AUTOPILOT_PPZ">
<description>PPZ UAV - http://nongnu.org/paparazzi</description>
</entry>
<entry value="10" name="MAV_AUTOPILOT_UDB">
<description>UAV Dev Board</description>
</entry>
<entry value="11" name="MAV_AUTOPILOT_FP">
<description>FlexiPilot</description>
</entry>
<entry value="12" name="MAV_AUTOPILOT_PX4">
<description>PX4 Autopilot - http://pixhawk.ethz.ch/px4/</description>
</entry>
<entry value="13" name="MAV_AUTOPILOT_SMACCMPILOT">
<description>SMACCMPilot - http://smaccmpilot.org</description>
</entry>
<entry value="14" name="MAV_AUTOPILOT_AUTOQUAD">
<description>AutoQuad -- http://autoquad.org</description>
</entry>
<entry value="15" name="MAV_AUTOPILOT_ARMAZILA">
<description>Armazila -- http://armazila.com</description>
</entry>
<entry value="16" name="MAV_AUTOPILOT_AEROB">
<description>Aerob -- http://aerob.ru</description>
</entry>
</enum>
<enum name="MAV_TYPE">
<entry value="0" name="MAV_TYPE_GENERIC">
<description>Generic micro air vehicle.</description>
</entry>
<entry value="1" name="MAV_TYPE_FIXED_WING">
<description>Fixed wing aircraft.</description>
</entry>
<entry value="2" name="MAV_TYPE_QUADROTOR">
<description>Quadrotor</description>
</entry>
<entry value="3" name="MAV_TYPE_COAXIAL">
<description>Coaxial helicopter</description>
</entry>
<entry value="4" name="MAV_TYPE_HELICOPTER">
<description>Normal helicopter with tail rotor.</description>
</entry>
<entry value="5" name="MAV_TYPE_ANTENNA_TRACKER">
<description>Ground installation</description>
</entry>
<entry value="6" name="MAV_TYPE_GCS">
<description>Operator control unit / ground control station</description>
</entry>
<entry value="7" name="MAV_TYPE_AIRSHIP">
<description>Airship, controlled</description>
</entry>
<entry value="8" name="MAV_TYPE_FREE_BALLOON">
<description>Free balloon, uncontrolled</description>
</entry>
<entry value="9" name="MAV_TYPE_ROCKET">
<description>Rocket</description>
</entry>
<entry value="10" name="MAV_TYPE_GROUND_ROVER">
<description>Ground rover</description>
</entry>
<entry value="11" name="MAV_TYPE_SURFACE_BOAT">
<description>Surface vessel, boat, ship</description>
</entry>
<entry value="12" name="MAV_TYPE_SUBMARINE">
<description>Submarine</description>
</entry>
<entry value="13" name="MAV_TYPE_HEXAROTOR">
<description>Hexarotor</description>
</entry>
<entry value="14" name="MAV_TYPE_OCTOROTOR">
<description>Octorotor</description>
</entry>
<entry value="15" name="MAV_TYPE_TRICOPTER">
<description>Octorotor</description>
</entry>
<entry value="16" name="MAV_TYPE_FLAPPING_WING">
<description>Flapping wing</description>
</entry>
<entry value="17" name="MAV_TYPE_KITE">
<description>Flapping wing</description>
</entry>
<entry value="18" name="MAV_TYPE_ONBOARD_CONTROLLER">
<description>Onboard companion controller</description>
</entry>
</enum>
<!-- WARNING: MAV_ACTION Enum is no longer supported - has been removed. Please use MAV_CMD -->
<enum name="MAV_MODE_FLAG">
<description>These flags encode the MAV mode.</description>
<entry value="128" name="MAV_MODE_FLAG_SAFETY_ARMED">
<description>0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly.</description>
</entry>
<entry value="64" name="MAV_MODE_FLAG_MANUAL_INPUT_ENABLED">
<description>0b01000000 remote control input is enabled.</description>
</entry>
<entry value="32" name="MAV_MODE_FLAG_HIL_ENABLED">
<description>0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.</description>
</entry>
<entry value="16" name="MAV_MODE_FLAG_STABILIZE_ENABLED">
<description>0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.</description>
</entry>
<entry value="8" name="MAV_MODE_FLAG_GUIDED_ENABLED">
<description>0b00001000 guided mode enabled, system flies MISSIONs / mission items.</description>
</entry>
<entry value="4" name="MAV_MODE_FLAG_AUTO_ENABLED">
<description>0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.</description>
</entry>
<entry value="2" name="MAV_MODE_FLAG_TEST_ENABLED">
<description>0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.</description>
</entry>
<entry value="1" name="MAV_MODE_FLAG_CUSTOM_MODE_ENABLED">
<description>0b00000001 Reserved for future use.</description>
</entry>
</enum>
<enum name="MAV_MODE_FLAG_DECODE_POSITION">
<description>These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.</description>
<entry value="128" name="MAV_MODE_FLAG_DECODE_POSITION_SAFETY">
<description>First bit: 10000000</description>
</entry>
<entry value="64" name="MAV_MODE_FLAG_DECODE_POSITION_MANUAL">
<description>Second bit: 01000000</description>
</entry>
<entry value="32" name="MAV_MODE_FLAG_DECODE_POSITION_HIL">
<description>Third bit: 00100000</description>
</entry>
<entry value="16" name="MAV_MODE_FLAG_DECODE_POSITION_STABILIZE">
<description>Fourth bit: 00010000</description>
</entry>
<entry value="8" name="MAV_MODE_FLAG_DECODE_POSITION_GUIDED">
<description>Fifth bit: 00001000</description>
</entry>
<entry value="4" name="MAV_MODE_FLAG_DECODE_POSITION_AUTO">
<description>Sixt bit: 00000100</description>
</entry>
<entry value="2" name="MAV_MODE_FLAG_DECODE_POSITION_TEST">
<description>Seventh bit: 00000010</description>
</entry>
<entry value="1" name="MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE">
<description>Eighth bit: 00000001</description>
</entry>
</enum>
<enum name="MAV_GOTO">
<description>Override command, pauses current mission execution and moves immediately to a position</description>
<entry value="0" name="MAV_GOTO_DO_HOLD">
<description>Hold at the current position.</description>
</entry>
<entry value="1" name="MAV_GOTO_DO_CONTINUE">
<description>Continue with the next item in mission execution.</description>
</entry>
<entry value="2" name="MAV_GOTO_HOLD_AT_CURRENT_POSITION">
<description>Hold at the current position of the system</description>
</entry>
<entry value="3" name="MAV_GOTO_HOLD_AT_SPECIFIED_POSITION">
<description>Hold at the position specified in the parameters of the DO_HOLD action</description>
</entry>
</enum>
<enum name="MAV_MODE">
<description>These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it
simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.</description>
<entry value="0" name="MAV_MODE_PREFLIGHT">
<description>System is not ready to fly, booting, calibrating, etc. No flag is set.</description>
</entry>
<entry value="80" name="MAV_MODE_STABILIZE_DISARMED">
<description>System is allowed to be active, under assisted RC control.</description>
</entry>
<entry value="208" name="MAV_MODE_STABILIZE_ARMED">
<description>System is allowed to be active, under assisted RC control.</description>
</entry>
<entry value="64" name="MAV_MODE_MANUAL_DISARMED">
<description>System is allowed to be active, under manual (RC) control, no stabilization</description>
</entry>
<entry value="192" name="MAV_MODE_MANUAL_ARMED">
<description>System is allowed to be active, under manual (RC) control, no stabilization</description>
</entry>
<entry value="88" name="MAV_MODE_GUIDED_DISARMED">
<description>System is allowed to be active, under autonomous control, manual setpoint</description>
</entry>
<entry value="216" name="MAV_MODE_GUIDED_ARMED">
<description>System is allowed to be active, under autonomous control, manual setpoint</description>
</entry>
<entry value="92" name="MAV_MODE_AUTO_DISARMED">
<description>System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs)</description>
</entry>
<entry value="220" name="MAV_MODE_AUTO_ARMED">
<description>System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs)</description>
</entry>
<entry value="66" name="MAV_MODE_TEST_DISARMED">
<description>UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.</description>
</entry>
<entry value="194" name="MAV_MODE_TEST_ARMED">
<description>UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.</description>
</entry>
</enum>
<enum name="MAV_STATE">
<entry value="0" name="MAV_STATE_UNINIT">
<description>Uninitialized system, state is unknown.</description>
</entry>
<entry name="MAV_STATE_BOOT">
<description>System is booting up.</description>
</entry>
<entry name="MAV_STATE_CALIBRATING">
<description>System is calibrating and not flight-ready.</description>
</entry>
<entry name="MAV_STATE_STANDBY">
<description>System is grounded and on standby. It can be launched any time.</description>
</entry>
<entry name="MAV_STATE_ACTIVE">
<description>System is active and might be already airborne. Motors are engaged.</description>
</entry>
<entry name="MAV_STATE_CRITICAL">
<description>System is in a non-normal flight mode. It can however still navigate.</description>
</entry>
<entry name="MAV_STATE_EMERGENCY">
<description>System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.</description>
</entry>
<entry name="MAV_STATE_POWEROFF">
<description>System just initialized its power-down sequence, will shut down now.</description>
</entry>
</enum>
<enum name="MAV_COMPONENT">
<entry value="0" name="MAV_COMP_ID_ALL">
<description/>
</entry>
<entry value="220" name="MAV_COMP_ID_GPS">
<description/>
</entry>
<entry value="190" name="MAV_COMP_ID_MISSIONPLANNER">
<description/>
</entry>
<entry value="195" name="MAV_COMP_ID_PATHPLANNER">
<description/>
</entry>
<entry value="180" name="MAV_COMP_ID_MAPPER">
<description/>
</entry>
<entry value="100" name="MAV_COMP_ID_CAMERA">
<description/>
</entry>
<entry value="200" name="MAV_COMP_ID_IMU">
<description/>
</entry>
<entry value="201" name="MAV_COMP_ID_IMU_2">
<description/>
</entry>
<entry value="202" name="MAV_COMP_ID_IMU_3">
<description/>
</entry>
<entry value="240" name="MAV_COMP_ID_UDP_BRIDGE">
<description/>
</entry>
<entry value="241" name="MAV_COMP_ID_UART_BRIDGE">
<description/>
</entry>
<entry value="250" name="MAV_COMP_ID_SYSTEM_CONTROL">
<description/>
</entry>
<entry value="140" name="MAV_COMP_ID_SERVO1">
<description/>
</entry>
<entry value="141" name="MAV_COMP_ID_SERVO2">
<description/>
</entry>
<entry value="142" name="MAV_COMP_ID_SERVO3">
<description/>
</entry>
<entry value="143" name="MAV_COMP_ID_SERVO4">
<description/>
</entry>
<entry value="144" name="MAV_COMP_ID_SERVO5">
<description/>
</entry>
<entry value="145" name="MAV_COMP_ID_SERVO6">
<description/>
</entry>
<entry value="146" name="MAV_COMP_ID_SERVO7">
<description/>
</entry>
<entry value="147" name="MAV_COMP_ID_SERVO8">
<description/>
</entry>
<entry value="148" name="MAV_COMP_ID_SERVO9">
<description/>
</entry>
<entry value="149" name="MAV_COMP_ID_SERVO10">
<description/>
</entry>
<entry value="150" name="MAV_COMP_ID_SERVO11">
<description/>
</entry>
<entry value="151" name="MAV_COMP_ID_SERVO12">
<description/>
</entry>
<entry value="152" name="MAV_COMP_ID_SERVO13">
<description/>
</entry>
<entry value="153" name="MAV_COMP_ID_SERVO14">
<description/>
</entry>
</enum>
<enum name="MAV_SYS_STATUS_SENSOR">
<description>These encode the sensors whose status is sent as part of the SYS_STATUS message.</description>
<entry value="1" name="MAV_SYS_STATUS_SENSOR_3D_GYRO">
<description>0x01 3D gyro</description>
</entry>
<entry value="2" name="MAV_SYS_STATUS_SENSOR_3D_ACCEL">
<description>0x02 3D accelerometer</description>
</entry>
<entry value="4" name="MAV_SYS_STATUS_SENSOR_3D_MAG">
<description>0x04 3D magnetometer</description>
</entry>
<entry value="8" name="MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE">
<description>0x08 absolute pressure</description>
</entry>
<entry value="16" name="MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE">
<description>0x10 differential pressure</description>
</entry>
<entry value="32" name="MAV_SYS_STATUS_SENSOR_GPS">
<description>0x20 GPS</description>
</entry>
<entry value="64" name="MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW">
<description>0x40 optical flow</description>
</entry>
<entry value="128" name="MAV_SYS_STATUS_SENSOR_VISION_POSITION">
<description>0x80 computer vision position</description>
</entry>
<entry value="256" name="MAV_SYS_STATUS_SENSOR_LASER_POSITION">
<description>0x100 laser based position</description>
</entry>
<entry value="512" name="MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH">
<description>0x200 external ground truth (Vicon or Leica)</description>
</entry>
<entry value="1024" name="MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL">
<description>0x400 3D angular rate control</description>
</entry>
<entry value="2048" name="MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION">
<description>0x800 attitude stabilization</description>
</entry>
<entry value="4096" name="MAV_SYS_STATUS_SENSOR_YAW_POSITION">
<description>0x1000 yaw position</description>
</entry>
<entry value="8192" name="MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL">
<description>0x2000 z/altitude control</description>
</entry>
<entry value="16384" name="MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL">
<description>0x4000 x/y position control</description>
</entry>
<entry value="32768" name="MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS">
<description>0x8000 motor outputs / control</description>
</entry>
<entry value="65536" name="MAV_SYS_STATUS_SENSOR_RC_RECEIVER">
<description>0x10000 rc receiver</description>
</entry>
<entry value="131072" name="MAV_SYS_STATUS_SENSOR_3D_GYRO2">
<description>0x20000 2nd 3D gyro</description>
</entry>
<entry value="262144" name="MAV_SYS_STATUS_SENSOR_3D_ACCEL2">
<description>0x40000 2nd 3D accelerometer</description>
</entry>
<entry value="524288" name="MAV_SYS_STATUS_SENSOR_3D_MAG2">
<description>0x80000 2nd 3D magnetometer</description>
</entry>
<entry value="1048576" name="MAV_SYS_STATUS_GEOFENCE">
<description>0x100000 geofence</description>
</entry>
<entry value="2097152" name="MAV_SYS_STATUS_AHRS">
<description>0x200000 AHRS subsystem health</description>
</entry>
<entry value="4194304" name="MAV_SYS_STATUS_TERRAIN">
<description>0x400000 Terrain subsystem health</description>
</entry>
</enum>
<enum name="MAV_FRAME">
<entry value="0" name="MAV_FRAME_GLOBAL">
<description>Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL)</description>
</entry>
<entry value="1" name="MAV_FRAME_LOCAL_NED">
<description>Local coordinate frame, Z-up (x: north, y: east, z: down).</description>
</entry>
<entry value="2" name="MAV_FRAME_MISSION">
<description>NOT a coordinate frame, indicates a mission command.</description>
</entry>
<entry value="3" name="MAV_FRAME_GLOBAL_RELATIVE_ALT">
<description>Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location.</description>
</entry>
<entry value="4" name="MAV_FRAME_LOCAL_ENU">
<description>Local coordinate frame, Z-down (x: east, y: north, z: up)</description>
</entry>
<entry value="7" name="MAV_FRAME_LOCAL_OFFSET_NED">
<description>Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position.</description>
</entry>
<entry value="8" name="MAV_FRAME_BODY_NED">
<description>Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right.</description>
</entry>
<entry value="9" name="MAV_FRAME_BODY_OFFSET_NED">
<description>Offset in body NED frame. This makes sense if adding setpoints to the current flight path, to avoid an obstacle - e.g. useful to command 2 m/s^2 acceleration to the east.</description>
</entry>
<entry value="10" name="MAV_FRAME_GLOBAL_TERRAIN_ALT">
<description>Global coordinate frame with above terrain level altitude. WGS84 coordinate system, relative altitude over terrain with respect to the waypoint coordinate. First value / x: latitude in degrees, second value / y: longitude in degrees, third value / z: positive altitude in meters with 0 being at ground level in terrain model.</description>
</entry>
</enum>
<enum name="MAVLINK_DATA_STREAM_TYPE">
<entry name="MAVLINK_DATA_STREAM_IMG_JPEG">
<description/>
</entry>
<entry name="MAVLINK_DATA_STREAM_IMG_BMP">
<description/>
</entry>
<entry name="MAVLINK_DATA_STREAM_IMG_RAW8U">
<description/>
</entry>
<entry name="MAVLINK_DATA_STREAM_IMG_RAW32U">
<description/>
</entry>
<entry name="MAVLINK_DATA_STREAM_IMG_PGM">
<description/>
</entry>
<entry name="MAVLINK_DATA_STREAM_IMG_PNG">
<description/>
</entry>
</enum>
<!-- fenced mode enums -->
<enum name="FENCE_ACTION">
<entry name="FENCE_ACTION_NONE" value="0">
<description>Disable fenced mode</description>
</entry>
<entry name="FENCE_ACTION_GUIDED" value="1">
<description>Switched to guided mode to return point (fence point 0)</description>
</entry>
<entry name="FENCE_ACTION_REPORT" value="2">
<description>Report fence breach, but don't take action</description>
</entry>
<entry name="FENCE_ACTION_GUIDED_THR_PASS" value="3">
<description>Switched to guided mode to return point (fence point 0) with manual throttle control</description>
</entry>
</enum>
<enum name="FENCE_BREACH">
<entry name="FENCE_BREACH_NONE" value="0">
<description>No last fence breach</description>
</entry>
<entry name="FENCE_BREACH_MINALT" value="1">
<description>Breached minimum altitude</description>
</entry>
<entry name="FENCE_BREACH_MAXALT" value="2">
<description>Breached maximum altitude</description>
</entry>
<entry name="FENCE_BREACH_BOUNDARY" value="3">
<description>Breached fence boundary</description>
</entry>
</enum>
<!-- Camera Mount mode Enumeration -->
<enum name="MAV_MOUNT_MODE">
<description>Enumeration of possible mount operation modes</description>
<entry name="MAV_MOUNT_MODE_RETRACT" value="0"><description>Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization</description></entry>
<entry name="MAV_MOUNT_MODE_NEUTRAL" value="1"><description>Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.</description></entry>
<entry name="MAV_MOUNT_MODE_MAVLINK_TARGETING" value="2"><description>Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization</description></entry>
<entry name="MAV_MOUNT_MODE_RC_TARGETING" value="3"><description>Load neutral position and start RC Roll,Pitch,Yaw control with stabilization</description></entry>
<entry name="MAV_MOUNT_MODE_GPS_POINT" value="4"><description>Load neutral position and start to point to Lat,Lon,Alt</description></entry>
</enum>
<enum name="MAV_CMD">
<description>Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data.</description>
<entry value="16" name="MAV_CMD_NAV_WAYPOINT">
<description>Navigate to MISSION.</description>
<param index="1">Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)</param>
<param index="2">Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)</param>
<param index="3">0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.</param>
<param index="4">Desired yaw angle at MISSION (rotary wing)</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="17" name="MAV_CMD_NAV_LOITER_UNLIM">
<description>Loiter around this MISSION an unlimited amount of time</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise</param>
<param index="4">Desired yaw angle.</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="18" name="MAV_CMD_NAV_LOITER_TURNS">
<description>Loiter around this MISSION for X turns</description>
<param index="1">Turns</param>
<param index="2">Empty</param>
<param index="3">Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise</param>
<param index="4">Desired yaw angle.</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="19" name="MAV_CMD_NAV_LOITER_TIME">
<description>Loiter around this MISSION for X seconds</description>
<param index="1">Seconds (decimal)</param>
<param index="2">Empty</param>
<param index="3">Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise</param>
<param index="4">Desired yaw angle.</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="20" name="MAV_CMD_NAV_RETURN_TO_LAUNCH">
<description>Return to launch location</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="21" name="MAV_CMD_NAV_LAND">
<description>Land at location</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Desired yaw angle.</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="22" name="MAV_CMD_NAV_TAKEOFF">
<description>Takeoff from ground / hand</description>
<param index="1">Minimum pitch (if airspeed sensor present), desired pitch without sensor</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Yaw angle (if magnetometer present), ignored without magnetometer</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="80" name="MAV_CMD_NAV_ROI">
<description>Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
<param index="1">Region of intereset mode. (see MAV_ROI enum)</param>
<param index="2">MISSION index/ target ID. (see MAV_ROI enum)</param>
<param index="3">ROI index (allows a vehicle to manage multiple ROI's)</param>
<param index="4">Empty</param>
<param index="5">x the location of the fixed ROI (see MAV_FRAME)</param>
<param index="6">y</param>
<param index="7">z</param>
</entry>
<entry value="81" name="MAV_CMD_NAV_PATHPLANNING">
<description>Control autonomous path planning on the MAV.</description>
<param index="1">0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning</param>
<param index="2">0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid</param>
<param index="3">Empty</param>
<param index="4">Yaw angle at goal, in compass degrees, [0..360]</param>
<param index="5">Latitude/X of goal</param>
<param index="6">Longitude/Y of goal</param>
<param index="7">Altitude/Z of goal</param>
</entry>
<entry value="82" name="MAV_CMD_NAV_SPLINE_WAYPOINT">
<description>Navigate to MISSION using a spline path.</description>
<param index="1">Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Latitude/X of goal</param>
<param index="6">Longitude/Y of goal</param>
<param index="7">Altitude/Z of goal</param>
</entry>
<!-- IDs 90 and 91 are reserved until the end of 2014,
as they were used in some conflicting proposals
between PX4 and ardupilot and need to be kept
unused to prevent errors -->
<entry value="92" name="MAV_CMD_NAV_GUIDED_ENABLE">
<description>hand control over to an external controller</description>
<param index="1">On / Off (> 0.5f on)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="95" name="MAV_CMD_NAV_LAST">
<description>NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="112" name="MAV_CMD_CONDITION_DELAY">
<description>Delay mission state machine.</description>
<param index="1">Delay in seconds (decimal)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="113" name="MAV_CMD_CONDITION_CHANGE_ALT">
<description>Ascend/descend at rate. Delay mission state machine until desired altitude reached.</description>
<param index="1">Descent / Ascend rate (m/s)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Finish Altitude</param>
</entry>
<entry value="114" name="MAV_CMD_CONDITION_DISTANCE">
<description>Delay mission state machine until within desired distance of next NAV point.</description>
<param index="1">Distance (meters)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="115" name="MAV_CMD_CONDITION_YAW">
<description>Reach a certain target angle.</description>
<param index="1">target angle: [0-360], 0 is north</param>
<param index="2">speed during yaw change:[deg per second]</param>
<param index="3">direction: negative: counter clockwise, positive: clockwise [-1,1]</param>
<param index="4">relative offset or absolute angle: [ 1,0]</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="159" name="MAV_CMD_CONDITION_LAST">
<description>NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="176" name="MAV_CMD_DO_SET_MODE">
<description>Set system mode.</description>
<param index="1">Mode, as defined by ENUM MAV_MODE</param>
<param index="2">Custom mode - this is system specific, please refer to the individual autopilot specifications for details.</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="177" name="MAV_CMD_DO_JUMP">
<description>Jump to the desired command in the mission list. Repeat this action only the specified number of times</description>
<param index="1">Sequence number</param>
<param index="2">Repeat count</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="178" name="MAV_CMD_DO_CHANGE_SPEED">
<description>Change speed and/or throttle set points.</description>
<param index="1">Speed type (0=Airspeed, 1=Ground Speed)</param>
<param index="2">Speed (m/s, -1 indicates no change)</param>
<param index="3">Throttle ( Percent, -1 indicates no change)</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="179" name="MAV_CMD_DO_SET_HOME">
<description>Changes the home location either to the current location or a specified location.</description>
<param index="1">Use current (1=use current location, 0=use specified location)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="180" name="MAV_CMD_DO_SET_PARAMETER">
<description>Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.</description>
<param index="1">Parameter number</param>
<param index="2">Parameter value</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="181" name="MAV_CMD_DO_SET_RELAY">
<description>Set a relay to a condition.</description>
<param index="1">Relay number</param>
<param index="2">Setting (1=on, 0=off, others possible depending on system hardware)</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="182" name="MAV_CMD_DO_REPEAT_RELAY">
<description>Cycle a relay on and off for a desired number of cyles with a desired period.</description>
<param index="1">Relay number</param>
<param index="2">Cycle count</param>
<param index="3">Cycle time (seconds, decimal)</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="183" name="MAV_CMD_DO_SET_SERVO">
<description>Set a servo to a desired PWM value.</description>
<param index="1">Servo number</param>
<param index="2">PWM (microseconds, 1000 to 2000 typical)</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="184" name="MAV_CMD_DO_REPEAT_SERVO">
<description>Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.</description>
<param index="1">Servo number</param>
<param index="2">PWM (microseconds, 1000 to 2000 typical)</param>
<param index="3">Cycle count</param>
<param index="4">Cycle time (seconds)</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="185" name="MAV_CMD_DO_FLIGHTTERMINATION">
<description>Terminate flight immediately</description>
<param index="1">Flight termination activated if > 0.5</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="190" name="MAV_CMD_DO_RALLY_LAND">
<description>Mission command to perform a landing from a rally point.</description>
<param index="1">Break altitude (meters)</param>
<param index="2">Landing speed (m/s)</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="191" name="MAV_CMD_DO_GO_AROUND">
<description>Mission command to safely abort an autonmous landing.</description>
<param index="1">Altitude (meters)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="200" name="MAV_CMD_DO_CONTROL_VIDEO">
<description>Control onboard camera system.</description>
<param index="1">Camera ID (-1 for all)</param>
<param index="2">Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw</param>
<param index="3">Transmission mode: 0: video stream, >0: single images every n seconds (decimal)</param>
<param index="4">Recording: 0: disabled, 1: enabled compressed, 2: enabled raw</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="201" name="MAV_CMD_DO_SET_ROI">
<description>Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
<param index="1">Region of intereset mode. (see MAV_ROI enum)</param>
<param index="2">MISSION index/ target ID. (see MAV_ROI enum)</param>
<param index="3">ROI index (allows a vehicle to manage multiple ROI's)</param>
<param index="4">Empty</param>
<param index="5">x the location of the fixed ROI (see MAV_FRAME)</param>
<param index="6">y</param>
<param index="7">z</param>
</entry>
<!-- Camera Controller Mission Commands Enumeration -->
<entry name="MAV_CMD_DO_DIGICAM_CONFIGURE" value="202">
<description>Mission command to configure an on-board camera controller system.</description>
<param index="1">Modes: P, TV, AV, M, Etc</param>
<param index="2">Shutter speed: Divisor number for one second</param>
<param index="3">Aperture: F stop number</param>
<param index="4">ISO number e.g. 80, 100, 200, Etc</param>
<param index="5">Exposure type enumerator</param>
<param index="6">Command Identity</param>
<param index="7">Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)</param>
</entry>
<entry name="MAV_CMD_DO_DIGICAM_CONTROL" value="203">
<description>Mission command to control an on-board camera controller system.</description>
<param index="1">Session control e.g. show/hide lens</param>
<param index="2">Zoom's absolute position</param>
<param index="3">Zooming step value to offset zoom from the current position</param>
<param index="4">Focus Locking, Unlocking or Re-locking</param>
<param index="5">Shooting Command</param>
<param index="6">Command Identity</param>
<param index="7">Empty</param>
</entry>
<!-- Camera Mount Mission Commands Enumeration -->
<entry name="MAV_CMD_DO_MOUNT_CONFIGURE" value="204">
<description>Mission command to configure a camera or antenna mount</description>
<param index="1">Mount operation mode (see MAV_MOUNT_MODE enum)</param>
<param index="2">stabilize roll? (1 = yes, 0 = no)</param>
<param index="3">stabilize pitch? (1 = yes, 0 = no)</param>
<param index="4">stabilize yaw? (1 = yes, 0 = no)</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry name="MAV_CMD_DO_MOUNT_CONTROL" value="205">
<description>Mission command to control a camera or antenna mount</description>
<param index="1">pitch or lat in degrees, depending on mount mode.</param>
<param index="2">roll or lon in degrees depending on mount mode</param>
<param index="3">yaw or alt (in meters) depending on mount mode</param>
<param index="4">reserved</param>
<param index="5">reserved</param>
<param index="6">reserved</param>
<param index="7">MAV_MOUNT_MODE enum value</param>
</entry>
<entry name="MAV_CMD_DO_SET_CAM_TRIGG_DIST" value="206">
<description>Mission command to set CAM_TRIGG_DIST for this flight</description>
<param index="1">Camera trigger distance (meters)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry name="MAV_CMD_DO_FENCE_ENABLE" value="207">
<description>Mission command to enable the geofence</description>
<param index="1">enable? (0=disable, 1=enable)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry name="MAV_CMD_DO_PARACHUTE" value="208">
<description>Mission command to trigger a parachute</description>
<param index="1">action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry name="MAV_CMD_DO_INVERTED_FLIGHT" value="210">
<description>Change to/from inverted flight</description>
<param index="1">inverted (0=normal, 1=inverted)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="220" name="MAV_CMD_DO_MOUNT_CONTROL_QUAT">
<description>Mission command to control a camera or antenna mount, using a quaternion as reference.</description>
<param index="1">q1 - quaternion param #1, w (1 in null-rotation)</param>
<param index="2">q2 - quaternion param #2, x (0 in null-rotation)</param>
<param index="3">q3 - quaternion param #3, y (0 in null-rotation)</param>
<param index="4">q4 - quaternion param #4, z (0 in null-rotation)</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="221" name="MAV_CMD_DO_GUIDED_MASTER">
<description>set id of master controller</description>
<param index="1">System ID</param>
<param index="2">Component ID</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="222" name="MAV_CMD_DO_GUIDED_LIMITS">
<description>set limits for external control</description>
<param index="1">timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout</param>
<param index="2">absolute altitude min (in meters, WGS84) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit</param>
<param index="3">absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit</param>
<param index="4">horizontal move limit (in meters, WGS84) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="240" name="MAV_CMD_DO_LAST">
<description>NOP - This command is only used to mark the upper limit of the DO commands in the enumeration</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="241" name="MAV_CMD_PREFLIGHT_CALIBRATION">
<description>Trigger calibration. This command will be only accepted if in pre-flight mode.</description>
<param index="1">Gyro calibration: 0: no, 1: yes</param>
<param index="2">Magnetometer calibration: 0: no, 1: yes</param>
<param index="3">Ground pressure: 0: no, 1: yes</param>
<param index="4">Radio calibration: 0: no, 1: yes</param>
<param index="5">Accelerometer calibration: 0: no, 1: yes</param>
<param index="6">Compass/Motor interference calibration: 0: no, 1: yes</param>
<param index="7">Empty</param>
</entry>
<entry value="242" name="MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS">
<description>Set sensor offsets. This command will be only accepted if in pre-flight mode.</description>
<param index="1">Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer</param>
<param index="2">X axis offset (or generic dimension 1), in the sensor's raw units</param>
<param index="3">Y axis offset (or generic dimension 2), in the sensor's raw units</param>
<param index="4">Z axis offset (or generic dimension 3), in the sensor's raw units</param>
<param index="5">Generic dimension 4, in the sensor's raw units</param>
<param index="6">Generic dimension 5, in the sensor's raw units</param>
<param index="7">Generic dimension 6, in the sensor's raw units</param>
</entry>
<entry value="245" name="MAV_CMD_PREFLIGHT_STORAGE">
<description>Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.</description>
<param index="1">Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM</param>
<param index="2">Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="246" name="MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN">
<description>Request the reboot or shutdown of system components.</description>
<param index="1">0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.</param>
<param index="2">0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="252" name="MAV_CMD_OVERRIDE_GOTO">
<description>Hold / continue the current action</description>
<param index="1">MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan</param>
<param index="2">MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position</param>
<param index="3">MAV_FRAME coordinate frame of hold point</param>
<param index="4">Desired yaw angle in degrees</param>
<param index="5">Latitude / X position</param>
<param index="6">Longitude / Y position</param>
<param index="7">Altitude / Z position</param>
</entry>
<entry value="300" name="MAV_CMD_MISSION_START">
<description>start running a mission</description>
<param index="1">first_item: the first mission item to run</param>
<param index="2">last_item: the last mission item to run (after this item is run, the mission ends)</param>
</entry>
<entry value="400" name="MAV_CMD_COMPONENT_ARM_DISARM">
<description>Arms / Disarms a component</description>
<param index="1">1 to arm, 0 to disarm</param>