VK_Mavlink/msg_definitions/VKFly.xml

<?xml version="1.0"?>
<mavlink>
  <!-- VK-fly contact info:                                              -->
  <!-- company URL: http://101.42.9.203/#/home                           -->
  <!-- email contact: liuyangzys@outlook.com                             -->
  <!-- mavlink ID range: 53000 - 54000                                   -->
  <!-- command ID range: 44000 - 44999                                   -->
  <include>common.xml</include>
  <dialect>0</dialect>
  <enums>
    <enum name="VKFLY_AP_TYPE">
      <description>Drone airframe</description>
      <entry value="41" name="VKFLY_AP_TYPE_I4">
        <description>Quadrotor I4</description>
      </entry>
      <entry value="42" name="VKFLY_AP_TYPE_X4">
        <description>Quadrotor X4</description>
      </entry>
      <entry value="61" name="VKFLY_AP_TYPE_I6">
        <description>Hexarotor I6</description>
      </entry>
      <entry value="62" name="VKFLY_AP_TYPE_X6">
        <description>Hexarotor X6</description>
      </entry>
      <entry value="63" name="VKFLY_AP_TYPE_YI6D">
        <description>Three axis hexarotor YI6D</description>
      </entry>
      <entry value="64" name="VKFLY_AP_TYPE_Y6D">
        <description>Three axis hexarotor Y6D</description>
      </entry>
      <entry value="65" name="VKFLY_AP_TYPE_H6">
        <description>Hexarotor H6</description>
      </entry>
      <entry value="81" name="VKFLY_AP_TYPE_I8">
        <description>Octorotor I8</description>
      </entry>
      <entry value="82" name="VKFLY_AP_TYPE_X8">
        <description>Octorotor X8</description>
      </entry>
      <entry value="83" name="VKFLY_AP_TYPE_4X8M">
        <description>Four axis octorotor, upper level X4, lower level reversed X4.</description>
      </entry>
      <entry value="84" name="VKFLY_AP_TYPE_4X8D">
        <description>Four axis octorotor, upper level clockwise, lower level anticlockwise</description>
      </entry>
      <entry value="85" name="VKFLY_AP_TYPE_4X8MR">
        <description>Four axis octorotor, all rotors are opposite of 4X8M.</description>
      </entry>
      <entry value="86" name="VKFLY_AP_TYPE_4X8DR">
        <description>Four axis octorotor, all rotors are opposite of 4X8M.</description>
      </entry>
      <entry value="121" name="VKFLY_AP_TYPE_6I12">
        <description>Six axis twelve rotor, upper level I6, lower lever opposite with I6.</description>
      </entry>
      <entry value="122" name="VKFLY_AP_TYPE_6X12">
        <description>Six axis twelve rotor, upper level X6, lower lever opposite with X6.</description>
      </entry>
      <entry value="161" name="VKFLY_AP_TYPE_8I16">
        <description>16 axis 8 rotor, upper level I8, lower lever opposite with I8</description>
      </entry>
      <entry value="162" name="VKFLY_AP_TYPE_8X16">
        <description>16 axis 8 rotor, upper level X8, lower lever opposite with X8</description>
      </entry>
    </enum>

    <enum name="VKFLY_FS_ACTION">
      <description>Failsafe action</description>
      <entry value="0" name="FAIL_SAFE_ACT_NONE">
        <description>Do nothing</description>
      </entry>
      <entry value="1" name="FAIL_SAFE_ACT_LOITER">
        <description>Hold position for rotor wing. Loiter for fixedwing.</description>
      </entry>
      <entry value="2" name="FAIL_SAFE_ACT_RTL">
        <description>Return to lauch.</description>
      </entry>
      <entry value="3" name="FAIL_SAFE_ACT_RTR">
        <description>Go to the nearest rally point.</description>
      </entry>
      <entry value="4" name="FAIL_SAFE_ACT_LAND">
        <description>Landing in place.</description>
      </entry>
      <entry value="5" name="FAIL_SAFE_ACT_LOCK">
        <description>Terminate servo output and disarm the drone.</description>
      </entry>
    </enum>

    <enum name="VKFLY_MAGCALIB_STAGE">
      <description>VKins magcalib stage</description>
      <entry value="0" name="VK_MAGCALIB_NONE">
        <description>Not in calibration.</description>
      </entry>
      <entry value="1" name="VK_MAGCALIB_XY">
        <description>Calibrating X-Y level.</description>
      </entry>
      <entry value="2" name="VK_MAGCALIB_XZ">
        <description>Calibrating X-Z level.</description>
      </entry>
      <entry value="3" name="VK_MAGCALIB_DONE">
        <description>Calibrating successfully done.</description>
      </entry>
      <entry value="4" name="VK_MAGCALIB_FAIL">
        <description>Calibrating failed.</description>
      </entry>
    </enum>

    <enum name="VKFLY_SYS_STATUS_SENSOR_EXTEND">
      <description>For SYS_STATUS sensor extend flag use.</description>
      <entry value="4" name="VKFLY_SYS_STATUS_SENSOR_GPS2">
        <description>GPS2</description>
      </entry>
      <entry value="8" name="VKFLY_SYS_STATUS_SENSOR_RTK_GPS">
        <description>RTK GPS</description>
      </entry>
      <entry value="16" name="VKFLY_SYS_STATUS_SDCARD">
        <description>Onboard SD card</description>
      </entry>
    </enum>

    <enum name="VKFLY_SYS_ERROR1">
      <description>bitmap for SYS_STATUS error1 </description>
      <entry value="1" name="VKFLY_SYS_ERROR1_GCS_LINK_LOST">
        <description>Gcs link lost.</description>
      </entry>
      <entry value="2" name="VKFLY_SYS_ERROR1_VOLTAGE_LOW">
        <description>Battery voltage low.</description>
      </entry>
      <entry value="4" name="VKFLY_SYS_ERROR1_MOTOR_BALANCE">
        <description>Servo output balance bad.</description>
      </entry>
      <entry value="8" name="VKFLY_SYS_ERROR1_MOTOR_FAIL">
        <description>Servo ouput fault.</description>
      </entry>
      <entry value="16" name="VKFLY_SYS_ERROR1_OVERHEAT">
        <description>Autopilot system temperature too high.</description>
      </entry>
      <entry value="32" name="VKFLY_SYS_ERROR1_INS_INVALID">
        <description>Autopilot system solved positioning not ready.</description>
      </entry>
      <entry value="64" name="VKFLY_SYS_ERROR1_OUT_FENCE">
        <description>Position out of fence range.</description>
      </entry>
    </enum>

    <enum name="VKFLY_SYS_ERROR2">
      <description>bitmap for SYS_STATUS error1 </description>
      <entry value="1" name="VKFLY_SYS_ERROR2_PREARM_CHECK_IMU">
        <description></description>
      </entry>
      <entry value="2" name="VKFLY_SYS_ERROR2_PREARM_CHECK_TILT">
        <description></description>
      </entry>
      <entry value="4" name="VKFLY_SYS_ERROR2_PREARM_CHECK_VELOCITY">
        <description></description>
      </entry>
      <entry value="8" name="VKFLY_SYS_ERROR2_PREARM_RC_BAD">
        <description></description>
      </entry>
    </enum>

    <enum name="VKFLY_SYS_ERROR3">
      <description>bitmap for SYS_STATUS error3 </description>
      <entry value="1" name="VKFLY_SYS_ERROR3_MAG0_DISTURB">
        <description></description>
      </entry>
      <entry value="2" name="VKFLY_SYS_ERROR3_MAG1_DISTURB">
        <description></description>
      </entry>
      <entry value="4" name="VKFLY_SYS_ERROR3_IMU0_ERROR">
        <description></description>
      </entry>
      <entry value="8" name="VKFLY_SYS_ERROR3_IMU1_ERROR">
        <description></description>
      </entry>
      <entry value="16" name="VKFLY_SYS_ERROR3_BARO0_ERROR">
        <description></description>
      </entry>
      <entry value="32" name="VKFLY_SYS_ERROR3_GPS0_ERROR">
        <description></description>
      </entry>
      <entry value="64" name="VKFLY_SYS_ERROR3_GPS1_ERROR">
        <description></description>
      </entry>
      <entry value="128" name="VKFLY_SYS_ERROR3_RTK_ERROR">
        <description></description>
      </entry>
    </enum>

    <enum name="VKFLY_CUSTOM_MODE">
      <description>custom mode in HEARTBEAT</description>
      <entry value="3" name="VKFLY_CUSTOM_MODE_ATTITUDE">
        <description>Attitude mode</description>
      </entry>
      <entry value="4" name="VKFLY_CUSTOM_MODE_POSHOLD">
        <description>Poshold mode</description>
      </entry>
      <entry value="10" name="VKFLY_CUSTOM_MODE_TAKEOFF">
        <description>Auto takeoff.</description>
      </entry>
      <entry value="11" name="VKFLY_CUSTOM_MODE_LOITER">
        <description>Auto loiter.</description>
      </entry>
      <entry value="12" name="VKFLY_CUSTOM_MODE_RTL">
        <description>Auto return.</description>
      </entry>
      <entry value="15" name="VKFLY_CUSTOM_MODE_CRUISE">
        <description>Auto cruise.</description>
      </entry>
      <entry value="18" name="VKFLY_CUSTOM_MODE_GUIDE">
        <description>Guide to point.</description>
      </entry>
      <entry value="19" name="VKFLY_CUSTOM_MODE_LAND">
        <description>Land.</description>
      </entry>
      <entry value="20" name="VKFLY_CUSTOM_MODE_FSLAND">
        <description>Force land.</description>
      </entry>
      <entry value="21" name="VKFLY_CUSTOM_MODE_FOLLOW">
        <description>Follow.</description>
      </entry>
      <entry value="23" name="VKFLY_CUSTOM_MODE_WP_ORBIT">
        <description>WP_Orbit</description>
      </entry>
      <entry value="24" name="VKFLY_CUSTOM_MODE_DYN_TAKEOFF">
        <description>Dyn_Takeoff </description>
      </entry>
      <entry value="25" name="VKFLY_CUSTOM_MODE_DYN_LAND">
        <description>Dyn_Land</description>
      </entry>
      <entry value="26" name="VKFLY_CUSTOM_MODE_OBAVOID">
        <description>Obavoid </description>
      </entry>
      <entry value="27" name="VKFLY_CUSTOM_MODE_OFFBOARD">
        <description>Offboard command control.</description>
      </entry>
    </enum>

    <enum name="VKFLY_VKINS_NAV_STATUS">
      <description>bitmap for VKins navigtion status </description>
      <entry value="0x01" name="VKFLY_VKINS_NAV_INSGPS">
        <description>INS status. 0 means no INS. 1 means INS ok.</description>
      </entry>
      <entry value="0x02" name="VKFLY_VKINS_NAV_ALT_GPS">
        <description>GPS altitude in data fusion. 0 gps altitude not used. 1 gps altitude used.</description>
      </entry>
      <entry value="0x04" name="VKFLY_VKINS_NAV_HEADING_RTK">
        <description>RTK heading data. 0 use mag, 1 use rtk dual ant heading.</description>
      </entry>
      <entry value="0x10" name="VKFLY_VKINS_NAV_RTK">
        <description>RTK pos data. 0 no RTK, 1 RTK. </description>
      </entry>
    </enum>

    <enum name="VKFLY_YAW_CTRL_MODE">
      <description>Yaw control mode</description>
      <entry value="0" name="VKFLY_YAW_KEEP_CURRENT">
        <description>Yaw do not change. Keep current yaw.</description>
      </entry>
      <entry value="1" name="VKFLY_YAW_TO_NEXT_WP">
        <description>Yaw towards next waypoint or circle center.</description>
      </entry>
      <entry value="2" name="VKFLY_YAW_TO_TRACE_COURSE">
        <description>Yaw towards moving course heading.</description>
      </entry>
      <entry value="3" name="VKFLY_YAW_TO_SET_VALUE">
        <description>Yaw towards spacific value.</description>
      </entry>
      <entry value="4" name="VKFLY_YAW_TO_HOME">
        <description>Yaw towards home point.</description>
      </entry>
      <entry value="5" name="VKFLY_YAW_TO_INTEREST">
        <description>Yaw towards interest point.</description>
      </entry>
      <entry value="6" name="VKFLY_YAW_TO_OTHER_MAV_SYS">
        <description>Yaw towards interest point.</description>
      </entry>
    </enum>

    <enum name="VKFLY_PHOTO_CTRL_MODE">
      <description>Digicam auto take photo mode.</description>
      <entry value="0" name="VKFLY_AUTO_PHO_KEEP_CURRENT">
        <description>Do not take photo automatically.</description>
      </entry>
      <entry value="1" name="VKFLY_AUTO_PHO_STOP">
        <description>Do not take photo automatically.</description>
      </entry>
      <entry value="2" name="VKFLY_AUTO_PHO_AUTO_BY_TIME">
        <description>Automatically take photo by tiem.</description>
      </entry>
      <entry value="3" name="VKFLY_AUTO_PHO_BY_DIST_XY">
        <description>Automatically take photo by distance.</description>
      </entry>
      <entry value="4" name="VKFLY_AUTO_PHO_BY_DIST_Z">
        <description>Automatically take photo by input trigger signal or command.</description>
      </entry>
      <entry value="5" name="VKFLY_AUTO_PHO_BY_DIST_XYZ">
        <description>Automatically take photo by input trigger signal or command.</description>
      </entry>
    </enum>

    <enum name="VKFLY_DIGICAM_WP_ACT">
      <description>Digicam action trigger on waypoint arrive.</description>
      <entry value="0" name="VKFLY_DIGICAM_WP_ACT_NONE">
        <description>Do nothing.</description>
      </entry>
      <entry value="1" name="VKFLY_DIGICAM_WP_ACT_PHO">
        <description>Do take photo.</description>
      </entry>
      <entry value="2" name="VKFLY_DIGICAM_WP_ACT_VEDIO_ON">
        <description>Do vedio recording on.</description>
      </entry>
      <entry value="3" name="VKFLY_DIGICAM_WP_ACT_VEDIO_OFF">
        <description>Do vedio recording off.</description>
      </entry>
    </enum>

    <enum name="VKFLY_GIMBAL_WP_ACT">
      <description>Gimbal action trigger on waypoint arrive.</description>
      <entry value="0" name="VKFLY_GIMBAL_WP_ACT_NONE">
        <description>Do nothing.</description>
      </entry>
      <entry value="1" name="VKFLY_GIMBAL_WP_ACT_SET_ANG">
        <description>Do set gimbal pitch and yaw angle value.</description>
      </entry>
      <entry value="2" name="VKFLY_GIMBAL_WP_ACT_SET_PITCH_YAW_FOLLOW">
        <description>Do set gimbla pitch value, yaw follow drone head.</description>
      </entry>
    </enum>

    <enum name="VKFLY_THROW_CHAN_TYPE">
      <description>bitmap of throwing channel</description>
      <entry value="1" name="VKFLY_THROW_CHAN_1">
        <description>throwing channel1</description>
      </entry>
      <entry value="2" name="VKFLY_THROW_CHAN_2">
        <description>throwing channel2</description>
      </entry>
      <entry value="4" name="VKFLY_THROW_CHAN_3">
        <description>throwing channel3</description>
      </entry>
      <entry value="8" name="VKFLY_THROW_CHAN_4">
        <description>throwing channel4</description>
      </entry>
      <entry value="16" name="VKFLY_THROW_CHAN_5">
        <description>throwing channel5</description>
      </entry>
      <entry value="32" name="VKFLY_THROW_CHAN_6">
        <description>throwing channel6</description>
      </entry>
      <entry value="64" name="VKFLY_THROW_CHAN_7">
        <description>throwing channel7</description>
      </entry>
      <entry value="128" name="VKFLY_THROW_CHAN_8">
        <description>throwing channel8</description>
      </entry>
      <entry value="256" name="VKFLY_THROW_CHAN_9">
        <description>throwing channel9</description>
      </entry>
      <entry value="512" name="VKFLY_THROW_CHAN_10">
        <description>throwing channel10</description>
      </entry>
      <entry value="1024" name="VKFLY_THROW_CHAN_11">
        <description>throwing channel11</description>
      </entry>
      <entry value="2048" name="VKFLY_THROW_CHAN_12">
        <description>throwing channel12</description>
      </entry>
      <entry value="4096" name="VKFLY_THROW_CHAN_13">
        <description>throwing channel12</description>
      </entry>
      <entry value="8192" name="VKFLY_THROW_CHAN_14">
        <description>throwing channel12</description>
      </entry>
      <entry value="16384" name="VKFLY_THROW_CHAN_15">
        <description>throwing channel12</description>
      </entry>
      <entry value="32768" name="VKFLY_THROW_CHAN_16">
        <description>throwing channel12</description>
      </entry>
      <entry value="65535" name="VKFLY_THROW_CHAN_ALL">
        <description>throwing channel12</description>
      </entry>
    </enum>

    <enum name="VKFLY_CMD">
      <description> VKFLY custom CMD </description>
      <entry value="44010" name="VKFLY_CMD_NAV_WP" hasLocation="true" isDestination="true">
        <description>VKFLY custom takephoto waypoint commond.</description>
        <param index="1" label="Hold Time And Speed"> </param>
        <param index="2" label="Photo Ctl"> </param>
        <param index="3" label="Gimbal Ctl"> </param>
        <param index="4" label="Yaw Mode">Yaw control mode</param>
        <param index="5" label="Latitude">Latitude</param>
        <param index="6" label="Longitude">Longitude</param>
        <param index="7" label="Altitude" units="m">Altitude</param>
      </entry>

      <entry value="44011" name="VKFLY_CMD_NAV_WP_THROW" hasLocation="true" isDestination="true">
        <description>VKFLY custom throwing waypoint command. </description>
        <param index="1" label="Hold Time And Speed"> </param>
        <param index="2" label="Throw ParamA"></param>
        <param index="3" label="Throw ParamB">Reserved.</param>
        <param index="4" label="Yaw Mode">Yaw control mode.</param>
        <param index="5" label="Latitude">Latitude</param>
        <param index="6" label="Longitude">Longitude</param>
        <param index="7" label="Altitude" units="m">Altitude</param>
      </entry>

      <entry value="44012" name="VKFLY_CMD_NAV_WP_ORBIT_DO_PHOTO" hasLocation="true"
        isDestination="true">
        <description>VLFLY Custom orbit waypoint </description>
        <param index="1" label="Radius And Speed"> </param>
        <param index="2" label="Photo Ctl"> </param>
        <param index="3" label="Times And Orbit Speed"> </param>
        <param index="4" label="Yaw Mode"> </param>
        <param index="5" label="Latitude">Latitude</param>
        <param index="6" label="Longitude">Longitude</param>
        <param index="7" label="Altitude" units="m">Altitude</param>
      </entry>

      <entry value="44030" name="VKFLY_CMD_MOUNT_CTRL" hasLocation="true"
        isDestination="true">
        <description>VLFLY Custom orbit waypoint </description>
        <param index="1" label=""> </param>
        <param index="2" label="CTRL "> </param>
        <param index="3" label="Times And Orbit Speed"> </param>
        <param index="4" label="Yaw Mode"> </param>
        <param index="5" label="Latitude">Latitude</param>
        <param index="6" label="Longitude">Longitude</param>
        <param index="7" label="Altitude" units="m">Altitude</param>
      </entry>

    </enum>
  </enums>

  <messages>
    <message id="53000" name="VKINS_STATUS">
      <description> </description>
      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp in ms from system boot.</field>
      <field type="uint8_t" name="nav_status" enum="VKFLY_VKINS_NAV_STATUS" display="bitmask"
        print_format="0x%02x">VKINS
        navigation status flag.</field>
      <field type="uint8_t" name="s_flag1">vinks flag1</field>
      <field type="uint8_t" name="s_flag2">vinks flag2.</field>
      <field type="uint8_t" name="s_flag3">vinks flag3.</field>
      <field type="uint8_t" name="s_flag4">vinks flag4.</field>
      <field type="uint8_t" name="s_flag5">vinks flag5.</field>
      <field type="uint8_t" name="s_flag6">vinks flag6.</field>
      <field type="uint8_t" name="mag_calib_stage" enum="VKFLY_MAGCALIB_STAGE">vkins mag calib
        stage.</field>
      <field type="float" name="g0" units="m/s/s">vkins initial calibrated gravitation acceleration.</field>
      <field type="int32_t" name="raw_latitude" units="degE7">raw longitude for data fusion</field>
      <field type="int32_t" name="raw_longitude" units="degE7">raw latitidue for data fusion</field>
      <field type="float" name="baro_alt" units="m">raw baromoter altitude for data fusion</field>
      <field type="float" name="raw_gps_alt" units="m">gps amsl altitude for data fusion</field>
      <field type="uint8_t" name="solv_psat_num">satelites number for position</field>
      <field type="uint8_t" name="solv_hsat_num">satelites number for heading</field>
      <field type="int16_t" name="temperature" units="cdegC">temperature</field>
      <field type="uint8_t" name="vibe_coe"></field>
    </message>

    <message id="53001" name="VKFMU_STATUS">
      <description> </description>
      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp in ms from system boot.</field>
      <field type="uint8_t" name="s_flag1">fmu sflag1</field>
      <field type="uint8_t" name="s_flag2">fmu sflag2</field>
      <field type="uint8_t" name="s_flag3">fmu sflag3</field>
      <field type="uint8_t" name="s_flag4">fmu sflag4</field>
    </message>
  </messages>

</mavlink>