VKFly.xml 28 KB

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  1. <?xml version="1.0"?>
  2. <mavlink>
  3. <!-- VK-fly contact info: -->
  4. <!-- company URL: http://101.42.9.203/#/home -->
  5. <!-- email contact: liuyangzys@outlook.com -->
  6. <!-- mavlink ID range: 53000 - 54000 -->
  7. <!-- command ID range: 44000 - 44999 -->
  8. <include>common.xml</include>
  9. <dialect>0</dialect>
  10. <enums>
  11. <enum name="VKFLY_AP_TYPE">
  12. <description>Drone airframe</description>
  13. <entry value="41" name="VKFLY_AP_TYPE_I4">
  14. <description>Quadrotor I4</description>
  15. </entry>
  16. <entry value="42" name="VKFLY_AP_TYPE_X4">
  17. <description>Quadrotor X4</description>
  18. </entry>
  19. <entry value="61" name="VKFLY_AP_TYPE_I6">
  20. <description>Hexarotor I6</description>
  21. </entry>
  22. <entry value="62" name="VKFLY_AP_TYPE_X6">
  23. <description>Hexarotor X6</description>
  24. </entry>
  25. <entry value="63" name="VKFLY_AP_TYPE_YI6D">
  26. <description>Three axis hexarotor YI6D</description>
  27. </entry>
  28. <entry value="64" name="VKFLY_AP_TYPE_Y6D">
  29. <description>Three axis hexarotor Y6D</description>
  30. </entry>
  31. <entry value="65" name="VKFLY_AP_TYPE_H6">
  32. <description>Hexarotor H6</description>
  33. </entry>
  34. <entry value="81" name="VKFLY_AP_TYPE_I8">
  35. <description>Octorotor I8</description>
  36. </entry>
  37. <entry value="82" name="VKFLY_AP_TYPE_X8">
  38. <description>Octorotor X8</description>
  39. </entry>
  40. <entry value="83" name="VKFLY_AP_TYPE_4X8M">
  41. <description>Four axis octorotor, upper level X4, lower level reversed X4.</description>
  42. </entry>
  43. <entry value="84" name="VKFLY_AP_TYPE_4X8D">
  44. <description>Four axis octorotor, upper level clockwise, lower level anticlockwise</description>
  45. </entry>
  46. <entry value="85" name="VKFLY_AP_TYPE_4X8MR">
  47. <description>Four axis octorotor, all rotors are opposite of 4X8M.</description>
  48. </entry>
  49. <entry value="86" name="VKFLY_AP_TYPE_4X8DR">
  50. <description>Four axis octorotor, all rotors are opposite of 4X8M.</description>
  51. </entry>
  52. <entry value="121" name="VKFLY_AP_TYPE_6I12">
  53. <description>Six axis twelve rotor, upper level I6, lower lever opposite with I6.</description>
  54. </entry>
  55. <entry value="122" name="VKFLY_AP_TYPE_6X12">
  56. <description>Six axis twelve rotor, upper level X6, lower lever opposite with X6.</description>
  57. </entry>
  58. <entry value="161" name="VKFLY_AP_TYPE_8I16">
  59. <description>16 axis 8 rotor, upper level I8, lower lever opposite with I8</description>
  60. </entry>
  61. <entry value="162" name="VKFLY_AP_TYPE_8X16">
  62. <description>16 axis 8 rotor, upper level X8, lower lever opposite with X8</description>
  63. </entry>
  64. </enum>
  65. <enum name="VKFLY_FS_ACTION">
  66. <description>Failsafe action</description>
  67. <entry value="0" name="FAIL_SAFE_ACT_NONE">
  68. <description>Do nothing</description>
  69. </entry>
  70. <entry value="1" name="FAIL_SAFE_ACT_LOITER">
  71. <description>Hold position for rotor wing. Loiter for fixedwing.</description>
  72. </entry>
  73. <entry value="2" name="FAIL_SAFE_ACT_RTL">
  74. <description>Return to lauch.</description>
  75. </entry>
  76. <entry value="3" name="FAIL_SAFE_ACT_RTR">
  77. <description>Go to the nearest rally point.</description>
  78. </entry>
  79. <entry value="4" name="FAIL_SAFE_ACT_LAND">
  80. <description>Landing in place.</description>
  81. </entry>
  82. <entry value="5" name="FAIL_SAFE_ACT_LOCK">
  83. <description>Terminate servo output and disarm the drone.</description>
  84. </entry>
  85. </enum>
  86. <enum name="VKFLY_ROI_STATE" bitmask="true">
  87. <description>Bitmap for ROI state</description>
  88. <entry value="1" name="VKFLY_ROI_GIMBAL">
  89. <description>Do nothing</description>
  90. </entry>
  91. <entry value="2" name="VKFLY_ROI_DRONE_HEAD">
  92. <description>Do nothing</description>
  93. </entry>
  94. </enum>
  95. <enum name="VKFLY_MAGCALIB_STAGE">
  96. <description>VKins magcalib stage</description>
  97. <entry value="0" name="VK_MAGCALIB_NONE">
  98. <description>Not in calibration.</description>
  99. </entry>
  100. <entry value="1" name="VK_MAGCALIB_XY">
  101. <description>Calibrating X-Y level.</description>
  102. </entry>
  103. <entry value="2" name="VK_MAGCALIB_XZ">
  104. <description>Calibrating X-Z level.</description>
  105. </entry>
  106. <entry value="3" name="VK_MAGCALIB_DONE">
  107. <description>Calibrating successfully done.</description>
  108. </entry>
  109. <entry value="4" name="VK_MAGCALIB_FAIL">
  110. <description>Calibrating failed.</description>
  111. </entry>
  112. </enum>
  113. <enum name="VKFLY_SYS_STATUS_SENSOR_EXTEND" bitmask="true">
  114. <description>For SYS_STATUS sensor extend flag use.</description>
  115. <entry value="4" name="VKFLY_SYS_STATUS_SENSOR_GPS2">
  116. <description>GPS2</description>
  117. </entry>
  118. <entry value="8" name="VKFLY_SYS_STATUS_SENSOR_RTK_GPS">
  119. <description>RTK GPS</description>
  120. </entry>
  121. <entry value="16" name="VKFLY_SYS_STATUS_SDCARD">
  122. <description>Onboard SD card</description>
  123. </entry>
  124. </enum>
  125. <enum name="VKFLY_SYS_ERROR1" bitmask="true">
  126. <description>bitmap for SYS_STATUS error1 </description>
  127. <entry value="1" name="VKFLY_SYS_ERROR1_GCS_LINK_LOST">
  128. <description>Gcs link lost.</description>
  129. </entry>
  130. <entry value="2" name="VKFLY_SYS_ERROR1_VOLTAGE_LOW">
  131. <description>Battery voltage low.</description>
  132. </entry>
  133. <entry value="4" name="VKFLY_SYS_ERROR1_MOTOR_BALANCE">
  134. <description>Servo output balance bad.</description>
  135. </entry>
  136. <entry value="8" name="VKFLY_SYS_ERROR1_MOTOR_FAIL">
  137. <description>Servo ouput fault.</description>
  138. </entry>
  139. <entry value="16" name="VKFLY_SYS_ERROR1_OVERHEAT">
  140. <description>Autopilot system temperature too high.</description>
  141. </entry>
  142. <entry value="32" name="VKFLY_SYS_ERROR1_INS_INVALID">
  143. <description>Autopilot system solved positioning not ready.</description>
  144. </entry>
  145. <entry value="64" name="VKFLY_SYS_ERROR1_OUT_FENCE">
  146. <description>Position out of fence range.</description>
  147. </entry>
  148. </enum>
  149. <enum name="VKFLY_SYS_ERROR2" bitmask="true">
  150. <description>bitmap for SYS_STATUS error1 </description>
  151. <entry value="1" name="VKFLY_SYS_ERROR2_PREARM_CHECK_IMU">
  152. <description></description>
  153. </entry>
  154. <entry value="2" name="VKFLY_SYS_ERROR2_PREARM_CHECK_TILT">
  155. <description></description>
  156. </entry>
  157. <entry value="4" name="VKFLY_SYS_ERROR2_PREARM_CHECK_VELOCITY">
  158. <description></description>
  159. </entry>
  160. <entry value="8" name="VKFLY_SYS_ERROR2_PREARM_RC_BAD">
  161. <description></description>
  162. </entry>
  163. </enum>
  164. <enum name="VKFLY_SYS_ERROR3" bitmask="true">
  165. <description>bitmap for SYS_STATUS error3 </description>
  166. <entry value="1" name="VKFLY_SYS_ERROR3_MAG0_DISTURB">
  167. <description></description>
  168. </entry>
  169. <entry value="2" name="VKFLY_SYS_ERROR3_MAG1_DISTURB">
  170. <description></description>
  171. </entry>
  172. <entry value="4" name="VKFLY_SYS_ERROR3_IMU0_ERROR">
  173. <description></description>
  174. </entry>
  175. <entry value="8" name="VKFLY_SYS_ERROR3_IMU1_ERROR">
  176. <description></description>
  177. </entry>
  178. <entry value="16" name="VKFLY_SYS_ERROR3_BARO0_ERROR">
  179. <description></description>
  180. </entry>
  181. <entry value="32" name="VKFLY_SYS_ERROR3_GPS0_ERROR">
  182. <description></description>
  183. </entry>
  184. <entry value="64" name="VKFLY_SYS_ERROR3_GPS1_ERROR">
  185. <description></description>
  186. </entry>
  187. <entry value="128" name="VKFLY_SYS_ERROR3_RTK_ERROR">
  188. <description></description>
  189. </entry>
  190. </enum>
  191. <enum name="VKFLY_CUSTOM_MODE">
  192. <description>custom mode in HEARTBEAT</description>
  193. <entry value="3" name="VKFLY_CUSTOM_MODE_ATTITUDE">
  194. <description>Attitude mode</description>
  195. </entry>
  196. <entry value="4" name="VKFLY_CUSTOM_MODE_POSHOLD">
  197. <description>Poshold mode</description>
  198. </entry>
  199. <entry value="10" name="VKFLY_CUSTOM_MODE_TAKEOFF">
  200. <description>Auto takeoff.</description>
  201. </entry>
  202. <entry value="11" name="VKFLY_CUSTOM_MODE_LOITER">
  203. <description>Auto loiter.</description>
  204. </entry>
  205. <entry value="12" name="VKFLY_CUSTOM_MODE_RTL">
  206. <description>Auto return.</description>
  207. </entry>
  208. <entry value="13" name="VKFLY_CUSTOM_MODE_FLY_TO_WP">
  209. <description>Auto fly to wp.</description>
  210. </entry>
  211. <entry value="15" name="VKFLY_CUSTOM_MODE_CRUISE">
  212. <description>Auto cruise.</description>
  213. </entry>
  214. <entry value="18" name="VKFLY_CUSTOM_MODE_GUIDE">
  215. <description>Guide to point.</description>
  216. </entry>
  217. <entry value="19" name="VKFLY_CUSTOM_MODE_LAND">
  218. <description>Land.</description>
  219. </entry>
  220. <entry value="20" name="VKFLY_CUSTOM_MODE_FSLAND">
  221. <description>Force land.</description>
  222. </entry>
  223. <entry value="21" name="VKFLY_CUSTOM_MODE_FOLLOW">
  224. <description>Follow.</description>
  225. </entry>
  226. <entry value="23" name="VKFLY_CUSTOM_MODE_WP_ORBIT">
  227. <description>WP_Orbit</description>
  228. </entry>
  229. <entry value="24" name="VKFLY_CUSTOM_MODE_DYN_TAKEOFF">
  230. <description>Dyn_Takeoff </description>
  231. </entry>
  232. <entry value="25" name="VKFLY_CUSTOM_MODE_DYN_LAND">
  233. <description>Dyn_Land</description>
  234. </entry>
  235. <entry value="26" name="VKFLY_CUSTOM_MODE_OBAVOID">
  236. <description>Obavoid </description>
  237. </entry>
  238. <entry value="27" name="VKFLY_CUSTOM_MODE_OFFBOARD">
  239. <description>Offboard command control.</description>
  240. </entry>
  241. </enum>
  242. <enum name="VKFLY_VKINS_NAV_STATUS" bitmask="true">
  243. <description>bitmap for VKins navigtion status </description>
  244. <entry value="0x01" name="VKFLY_VKINS_NAV_INSGPS">
  245. <description>INS status. 0 means no INS. 1 means INS ok.</description>
  246. </entry>
  247. <entry value="0x02" name="VKFLY_VKINS_NAV_ALT_GPS">
  248. <description>GPS altitude in data fusion. 0 gps altitude not used. 1 gps altitude used.</description>
  249. </entry>
  250. <entry value="0x04" name="VKFLY_VKINS_NAV_HEADING_RTK">
  251. <description>RTK heading data. 0 use mag, 1 use rtk dual ant heading.</description>
  252. </entry>
  253. <entry value="0x10" name="VKFLY_VKINS_NAV_RTK">
  254. <description>RTK pos data. 0 no RTK, 1 RTK. </description>
  255. </entry>
  256. </enum>
  257. <enum name="VKFLY_YAW_CTRL_MODE">
  258. <description>Yaw control mode</description>
  259. <entry value="0" name="VKFLY_YAW_KEEP_CURRENT">
  260. <description>Yaw do not change. Keep current yaw.</description>
  261. </entry>
  262. <entry value="1" name="VKFLY_YAW_TO_NEXT_WP">
  263. <description>Yaw towards next waypoint or circle center.</description>
  264. </entry>
  265. <entry value="2" name="VKFLY_YAW_TO_TRACE_COURSE">
  266. <description>Yaw towards moving course heading.</description>
  267. </entry>
  268. <entry value="3" name="VKFLY_YAW_TO_SET_VALUE">
  269. <description>Yaw towards spacific value.</description>
  270. </entry>
  271. <entry value="4" name="VKFLY_YAW_TO_HOME">
  272. <description>Yaw towards home point.</description>
  273. </entry>
  274. <entry value="5" name="VKFLY_YAW_TO_INTEREST">
  275. <description>Yaw towards interest point.</description>
  276. </entry>
  277. <entry value="6" name="VKFLY_YAW_TO_OTHER_MAV_SYS">
  278. <description>Yaw towards interest point.</description>
  279. </entry>
  280. </enum>
  281. <enum name="VKFLY_PHOTO_CTRL_MODE">
  282. <description>Digicam auto take photo mode.</description>
  283. <entry value="0" name="VKFLY_AUTO_PHO_KEEP_CURRENT">
  284. <description>Do not take photo automatically.</description>
  285. </entry>
  286. <entry value="1" name="VKFLY_AUTO_PHO_STOP">
  287. <description>Do not take photo automatically.</description>
  288. </entry>
  289. <entry value="2" name="VKFLY_AUTO_PHO_AUTO_BY_TIME">
  290. <description>Automatically take photo by tiem.</description>
  291. </entry>
  292. <entry value="3" name="VKFLY_AUTO_PHO_BY_DIST_XY">
  293. <description>Automatically take photo by distance.</description>
  294. </entry>
  295. <entry value="4" name="VKFLY_AUTO_PHO_BY_DIST_Z">
  296. <description>Automatically take photo by input trigger signal or command.</description>
  297. </entry>
  298. <entry value="5" name="VKFLY_AUTO_PHO_BY_DIST_XYZ">
  299. <description>Automatically take photo by input trigger signal or command.</description>
  300. </entry>
  301. </enum>
  302. <enum name="VKFLY_RTL_REASON">
  303. <description>Digicam auto take photo mode.</description>
  304. <entry value="0" name="VKFLY_RTL_REASON_NONE">
  305. <description>Rtl mode not triggered.</description>
  306. </entry>
  307. <entry value="1" name="VKFLY_RTL_REASON_GCSCMD">
  308. <description>Trigger rtl mode by gcs command.</description>
  309. </entry>
  310. <entry value="2" name="VKFLY_RTL_REASON_RCCMD">
  311. <description>Trigger rtl mode by remote controller command.</description>
  312. </entry>
  313. <entry value="3" name="VKFLY_RTL_REASON_GCSLOST">
  314. <description>Trigger rtl mode by gcs link lost.</description>
  315. </entry>
  316. <entry value="4" name="VKFLY_RTL_REASON_RCFAIL">
  317. <description>Trigger rtl mode by remote controller signal fail.</description>
  318. </entry>
  319. <entry value="5" name="VKFLY_RTL_REASON_RCLOST">
  320. <description>Trigger rtl mode by remote controller signal lost.</description>
  321. </entry>
  322. <entry value="6" name="VKFLY_RTL_REASON_LOWVOLT">
  323. <description>Trigger rtl mode by battery volt low.</description>
  324. </entry>
  325. <entry value="7" name="VKFLY_RTL_REASON_OFFBOARD">
  326. <description>Trigger rtl mode by offboard command.</description>
  327. </entry>
  328. <entry value="8" name="VKFLY_RTL_REASON_ALTLIM">
  329. <description>Trigger rtl mode by altitude limit.</description>
  330. </entry>
  331. <entry value="9" name="VKFLY_RTL_REASON_OUT_FENCE">
  332. <description>Trigger rtl mode by out range of fence.</description>
  333. </entry>
  334. <entry value="10" name="VKFLY_RTL_REASON_BMS_LOWCAP">
  335. <description>Trigger rtl mode by battery manager system low capacity.</description>
  336. </entry>
  337. <entry value="11" name="VKFLY_RTL_REASON_BMS_LINKLOST">
  338. <description>Trigger rtl mode by battery manager link lost.</description>
  339. </entry>
  340. <entry value="12" name="VKFLY_RTL_REASON_SERVO_FAULT">
  341. <description>Trigger rtl mode by servo fault.</description>
  342. </entry>
  343. </enum>
  344. <enum name="VKFLY_DIGICAM_WP_ACT">
  345. <description>Digicam action trigger on waypoint arrive.</description>
  346. <entry value="0" name="VKFLY_DIGICAM_WP_ACT_NONE">
  347. <description>Do nothing.</description>
  348. </entry>
  349. <entry value="1" name="VKFLY_DIGICAM_WP_ACT_PHO">
  350. <description>Do take photo.</description>
  351. </entry>
  352. <entry value="2" name="VKFLY_DIGICAM_WP_ACT_VEDIO_ON">
  353. <description>Do vedio recording on.</description>
  354. </entry>
  355. <entry value="3" name="VKFLY_DIGICAM_WP_ACT_VEDIO_OFF">
  356. <description>Do vedio recording off.</description>
  357. </entry>
  358. </enum>
  359. <enum name="VKFLY_GIMBAL_WP_ACT">
  360. <description>Gimbal action trigger on waypoint arrive.</description>
  361. <entry value="0" name="VKFLY_GIMBAL_WP_ACT_NONE">
  362. <description>Do nothing.</description>
  363. </entry>
  364. <entry value="1" name="VKFLY_GIMBAL_WP_ACT_SET_ANG">
  365. <description>Do set gimbal pitch and yaw angle value.</description>
  366. </entry>
  367. <entry value="2" name="VKFLY_GIMBAL_WP_ACT_SET_PITCH_YAW_FOLLOW">
  368. <description>Do set gimbla pitch value, yaw follow drone head.</description>
  369. </entry>
  370. </enum>
  371. <enum name="VKFLY_THROW_CHAN_TYPE" bitmask="true">
  372. <description>bitmap of throwing channel</description>
  373. <entry value="1" name="VKFLY_THROW_CHAN_1">
  374. <description>throwing channel1</description>
  375. </entry>
  376. <entry value="2" name="VKFLY_THROW_CHAN_2">
  377. <description>throwing channel2</description>
  378. </entry>
  379. <entry value="4" name="VKFLY_THROW_CHAN_3">
  380. <description>throwing channel3</description>
  381. </entry>
  382. <entry value="8" name="VKFLY_THROW_CHAN_4">
  383. <description>throwing channel4</description>
  384. </entry>
  385. <entry value="16" name="VKFLY_THROW_CHAN_5">
  386. <description>throwing channel5</description>
  387. </entry>
  388. <entry value="32" name="VKFLY_THROW_CHAN_6">
  389. <description>throwing channel6</description>
  390. </entry>
  391. <entry value="64" name="VKFLY_THROW_CHAN_7">
  392. <description>throwing channel7</description>
  393. </entry>
  394. <entry value="128" name="VKFLY_THROW_CHAN_8">
  395. <description>throwing channel8</description>
  396. </entry>
  397. <entry value="256" name="VKFLY_THROW_CHAN_9">
  398. <description>throwing channel9</description>
  399. </entry>
  400. <entry value="512" name="VKFLY_THROW_CHAN_10">
  401. <description>throwing channel10</description>
  402. </entry>
  403. <entry value="1024" name="VKFLY_THROW_CHAN_11">
  404. <description>throwing channel11</description>
  405. </entry>
  406. <entry value="2048" name="VKFLY_THROW_CHAN_12">
  407. <description>throwing channel12</description>
  408. </entry>
  409. <entry value="4096" name="VKFLY_THROW_CHAN_13">
  410. <description>throwing channel12</description>
  411. </entry>
  412. <entry value="8192" name="VKFLY_THROW_CHAN_14">
  413. <description>throwing channel12</description>
  414. </entry>
  415. <entry value="16384" name="VKFLY_THROW_CHAN_15">
  416. <description>throwing channel12</description>
  417. </entry>
  418. <entry value="32768" name="VKFLY_THROW_CHAN_16">
  419. <description>throwing channel12</description>
  420. </entry>
  421. <entry value="65535" name="VKFLY_THROW_CHAN_ALL">
  422. <description>throwing channel12</description>
  423. </entry>
  424. </enum>
  425. <enum name="VKFLY_CMD">
  426. <description> VKFLY custom CMD </description>
  427. <entry value="44010" name="VKFLY_CMD_NAV_WP" hasLocation="true" isDestination="true">
  428. <description>VKFLY custom takephoto waypoint commond.</description>
  429. <param index="1" label="Hold Time And Speed"> </param>
  430. <param index="2" label="Photo Ctl"> </param>
  431. <param index="3" label="Gimbal Ctl"> </param>
  432. <param index="4" label="Yaw Mode">Yaw control mode</param>
  433. <param index="5" label="Latitude">Latitude</param>
  434. <param index="6" label="Longitude">Longitude</param>
  435. <param index="7" label="Altitude" units="m">Altitude</param>
  436. </entry>
  437. <entry value="44011" name="VKFLY_CMD_NAV_WP_THROW" hasLocation="true" isDestination="true">
  438. <description>VKFLY custom throwing waypoint command. </description>
  439. <param index="1" label="Hold Time And Speed"> </param>
  440. <param index="2" label="Throw ParamA"></param>
  441. <param index="3" label="Throw ParamB">Reserved.</param>
  442. <param index="4" label="Yaw Mode">Yaw control mode.</param>
  443. <param index="5" label="Latitude">Latitude</param>
  444. <param index="6" label="Longitude">Longitude</param>
  445. <param index="7" label="Altitude" units="m">Altitude</param>
  446. </entry>
  447. <entry value="44012" name="VKFLY_CMD_NAV_WP_ORBIT_DO_PHOTO" hasLocation="true"
  448. isDestination="true">
  449. <description>VLFLY Custom orbit waypoint </description>
  450. <param index="1" label="Radius And Speed"> </param>
  451. <param index="2" label="Photo Ctl"> </param>
  452. <param index="3" label="Times And Orbit Speed"> </param>
  453. <param index="4" label="Yaw Mode"> </param>
  454. <param index="5" label="Latitude">Latitude</param>
  455. <param index="6" label="Longitude">Longitude</param>
  456. <param index="7" label="Altitude" units="m">Altitude</param>
  457. </entry>
  458. <entry value="44030" name="VKFLY_CMD_MOUNT_CTRL" hasLocation="true"
  459. isDestination="true">
  460. <description>VLFLY Custom orbit waypoint </description>
  461. <param index="1" label=""> </param>
  462. <param index="2" label="CTRL "> </param>
  463. <param index="3" label="Times And Orbit Speed"> </param>
  464. <param index="4" label="Yaw Mode"> </param>
  465. <param index="5" label="Latitude">Latitude</param>
  466. <param index="6" label="Longitude">Longitude</param>
  467. <param index="7" label="Altitude" units="m">Altitude</param>
  468. </entry>
  469. <entry value="44050" name="VKFLY_CMD_ESC_CONFIG" hasLocation="false"
  470. isDestination="true">
  471. <description>esc </description>
  472. <param index="1" label="Set ID"> Set Esc id, min=1, max=16 </param>
  473. <param index="2" label=""> </param>
  474. <param index="3" label=""> </param>
  475. <param index="4" label=""> </param>
  476. <param index="5" label=""> </param>
  477. <param index="6" label=""> </param>
  478. <param index="7" label=""> </param>
  479. </entry>
  480. </enum>
  481. </enums>
  482. <messages>
  483. <message id="53000" name="VKINS_STATUS">
  484. <description> </description>
  485. <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp in ms from system boot.</field>
  486. <field type="uint8_t" name="nav_status" enum="VKFLY_VKINS_NAV_STATUS" display="bitmask"
  487. print_format="0x%02x">VKINS
  488. navigation status flag.</field>
  489. <field type="uint8_t" name="s_flag1">vinks flag1</field>
  490. <field type="uint8_t" name="s_flag2">vinks flag2.</field>
  491. <field type="uint8_t" name="s_flag3">vinks flag3.</field>
  492. <field type="uint8_t" name="s_flag4">vinks flag4.</field>
  493. <field type="uint8_t" name="s_flag5">vinks flag5.</field>
  494. <field type="uint8_t" name="s_flag6">vinks flag6.</field>
  495. <field type="uint8_t" name="mag_calib_stage" enum="VKFLY_MAGCALIB_STAGE">vkins mag calib
  496. stage.</field>
  497. <field type="float" name="g0" units="m/s/s">vkins initial calibrated gravitation acceleration.</field>
  498. <field type="int32_t" name="raw_latitude" units="degE7">raw longitude for data fusion</field>
  499. <field type="int32_t" name="raw_longitude" units="degE7">raw latitidue for data fusion</field>
  500. <field type="float" name="baro_alt" units="m">raw baromoter altitude for data fusion</field>
  501. <field type="float" name="raw_gps_alt" units="m">gps amsl altitude for data fusion</field>
  502. <field type="uint8_t" name="solv_psat_num">satelites number for position</field>
  503. <field type="uint8_t" name="solv_hsat_num">satelites number for heading</field>
  504. <field type="int16_t" name="temperature" units="degC">temperature</field>
  505. <field type="uint8_t" name="vibe_coe"></field>
  506. </message>
  507. <message id="53001" name="VKFMU_STATUS">
  508. <description> </description>
  509. <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp in ms from system boot.</field>
  510. <field type="uint8_t" name="rtl_reason" enum="VKFLY_RTL_REASON">return to launch reason.</field>
  511. <field type="uint8_t" name="s_flag2">fmu sflag2</field>
  512. <field type="uint8_t" name="s_flag3">fmu sflag3</field>
  513. <field type="uint16_t" name="ups_volt">ups voltage in 0.1V</field>
  514. <field type="uint16_t" name="adc_volt">adc voltage in 0.1V</field>
  515. <field type="uint32_t" name="flight_time" units="s">flight time in seconds</field>
  516. <field type="uint32_t" name="dist_to_tar" units="cm">distance to target position in cm</field>
  517. </message>
  518. <message id="53002" name="VK_ROI_TARGET">
  519. <description> </description>
  520. <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp in ms from system boot.</field>
  521. <field type="int32_t" name="lat" units="degE7">wgs48 latitude</field>
  522. <field type="int32_t" name="lon" units="degE7">wgs48 longitude</field>
  523. <field type="float" name="alt" units="m">altitude amsl, wgs48</field>
  524. <field type="uint16_t" name="state" enum="VKFLY_ROI_STATE">Bitmap to indicate ROI state </field>
  525. </message>
  526. <message id="53003" name="VK_BMS_STATUS">
  527. <description> battery bms status message </description>
  528. <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp in ms from system boot.</field>
  529. <field type="uint32_t" name="voltage" units="mV">BMS voltage in mV</field>
  530. <field type="int16_t" name="current" units="cA">BMS current in cA, negative value means in charging</field>
  531. <field type="int16_t" name="temperature" units="degC">BMS temperature in degC</field>
  532. <field type="int8_t" name="cap_percent" units="%">BMS remaining power in percentage</field>
  533. <field type="uint8_t" name="bat_id" minValue="0" maxValue="1" increment="1">BMS id, start from
  534. 0</field>
  535. <field type="uint32_t" name="err_code" display="bitmask" print_format="0x%04x">BMS error code,
  536. 0 means no error</field>
  537. <field type="uint16_t" name="cell_num" minValue="0" maxValue="100">BMS cell numbers</field>
  538. <field type="uint16_t[30]" name="cell_volt" units="mV">BMS cell voltage in mV</field>
  539. </message>
  540. <message id="53004" name="VK_BMS_INFO">
  541. <description> battery bms information message, this message can be required by
  542. MAV_CMD_REQUEST_MESSAGE with param1 ad bms id </description>
  543. <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp in ms from system boot.</field>
  544. <field type="uint8_t[20]" name="man_name">BMS manufactor string</field>
  545. <field type="uint8_t[20]" name="model_name">BMS equpment model name string</field>
  546. <field type="uint8_t[20]" name="sn_id">BMS SN id string</field>
  547. <field type="uint8_t[10]" name="hw_ver">BMS hardware version string</field>
  548. <field type="uint8_t[10]" name="fw_ver">BMS firmware version string</field>
  549. <field type="uint16_t" name="cyc_cnt" minValue="0" increment="1">BMS change and discharge
  550. cycle times</field>
  551. </message>
  552. <message id="53005" name="VK_DIGI_ESC_STATUS">
  553. <description> digital esc status with can or serial interface</description>
  554. <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp in ms from system boot.</field>
  555. <field type="uint16_t" name="rot_spd">BMS manufactor string</field>
  556. <field type="uint8_t[20]" name="model_name">BMS equpment model name string</field>
  557. <field type="uint8_t[20]" name="sn_id">BMS SN id string</field>
  558. <field type="uint8_t[10]" name="hw_ver">BMS hardware version string</field>
  559. <field type="uint8_t[10]" name="fw_ver">BMS firmware version string</field>
  560. </message>
  561. <message id="53100" name="VK_FW_UPDATE_BEGIN">
  562. <description>VKFLY autopilot update firmware begin. This message send from GCS to autopilot. </description>
  563. <field type="uint8_t" name="target_system">Target system id.</field>
  564. <field type="uint8_t" name="target_comp">Target compid id.</field>
  565. <field type="uint32_t" name="file_size" units="bytes">Size of the firmware file in bytes.</field>
  566. </message>
  567. <message id="53101" name="VK_FW_UPDATE_ACK">
  568. <description>VKFLY udpate acknowledge.</description>
  569. <field type="uint8_t" name="result" enum="MAV_RESULT">Update begin ack.</field>
  570. </message>
  571. <message id="53102" name="VK_FW_UPDATE_DATA_REQUEST">
  572. <description>VKFLY autopilot request update file data from GCS. </description>
  573. <field type="uint32_t" name="offset">Offset into the update file.</field>
  574. <field type="uint32_t" name="count">Number of bytes.</field>
  575. </message>
  576. <message id="53103" name="VK_FW_UPDATE_DATA">
  577. <description>VKFLY transfer update file data.</description>
  578. <field type="uint32_t" name="offset">Offset into the update file.</field>
  579. <field type="uint8_t" name="count" minValue="0" maxValue="128" increment="1">Number of bytes.
  580. Zero for end of file.</field>
  581. <field type="uint8_t[128]" name="data">File data.</field>
  582. </message>
  583. <message id="53104" name="VK_UPDATE_TERMINATE">
  584. <description>VKFLY transfer update terminate. Send this message to terminate a update file
  585. transfer.</description>
  586. <field type="uint8_t" name="target_system">Target system id.</field>
  587. <field type="uint8_t" name="target_comp">Target compid id.</field>
  588. </message>
  589. </messages>
  590. </mavlink>