MavCmdInfoCommon.json 38.5 KB
Newer Older
1
{
2 3
    "comment":  "Any Firmware, Any Vehicle",

4 5 6 7
    "version": 1,

    "mavCmdInfo": [
        {
8
            "comment":              "MAV_CMD_NAV_LAST: Used for mission settings / planned home position waypoint",
9
            "id":                   95,
10
            "rawName":              "HomeRaw",
11 12
            "friendlyName":         "Home Position",
            "description":          "Planned home position for mission.",
13
            "specifiesCoordinate":  true,
14 15 16 17 18 19 20 21 22 23 24 25
            "friendlyEdit":         true,
            "category":             "Basic",
            "param5": {
                "label":            "Latitude:",
                "default":          37.803784,
                "decimalPlaces":    7
            },
            "param6": {
                "label":            "Longitude:",
                "default":          -122.462276,
                "decimalPlaces":    7
            }
26 27 28 29 30 31 32 33
        },
        {
            "id":                   16,
            "rawName":              "MAV_CMD_NAV_WAYPOINT",
            "friendlyName":         "Waypoint",
            "description":          "Travel to a position in 3D space.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
Don Gagne's avatar
Don Gagne committed
34
            "category":             "Basic",
35 36
            "param1": {
                "label":            "Hold:",
37
                "units":            "secs",
Don Gagne's avatar
Don Gagne committed
38
                "default":          0,
39
                "decimalPlaces":    0
40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57
            },
            "param2": {
                "label":            "Acceptance:",
                "units":            "m",
                "default":          3,
                "decimalPlaces":    2
            },
            "param3": {
                "label":            "PassThru:",
                "units":            "m",
                "default":          0,
                "decimalPlaces":    2
            },
            "param4": {
                "label":            "Heading:",
                "units":            "radians",
                "default":          0.0,
                "decimalPlaces":    2
58 59 60 61 62 63 64 65 66
            }
        },
        {
            "id":                   17,
            "rawName":              "MAV_CMD_NAV_LOITER_UNLIM",
            "friendlyName":         "Loiter",
            "description":          "Travel to a position and Loiter around the specified radius indefinitely.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
Don Gagne's avatar
Don Gagne committed
67
            "category":             "Loiter",
68 69
            "param3": {
                "label":            "Radius:",
70
                "units":            "m",
71
                "default":          50.0,
72 73 74 75 76 77 78 79 80 81
                "decimalPlaces":    2
            }
        },
        {
            "id":                   18,
            "rawName":              "MAV_CMD_NAV_LOITER_TURNS",
            "friendlyName":         "Loiter (turns)",
            "description":          "Travel to a position and Loiter around the specified radius for a number of turns.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
Don Gagne's avatar
Don Gagne committed
82
            "category":             "Loiter",
83 84
            "param1": {
                "label":            "Turns:",
Don Gagne's avatar
Don Gagne committed
85
                "default":          1,
86 87 88 89
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Radius:",
90
                "units":            "m",
91
                "default":          50.0,
92
                "decimalPlaces":    2
93 94 95 96 97 98 99
            },
            "param4": {
                "label":            "Next waypoint start:",
                "enumStrings":      "Center,On Loiter",
                "enumValues":       "0,1",
                "default":          1,
                "decimalPlaces":    0
100 101 102 103 104 105 106 107 108
            }
        },
        {
            "id":                   19,
            "rawName":              "MAV_CMD_NAV_LOITER_TIME",
            "friendlyName":         "Loiter (time)",
            "description":          "Travel to a position and Loiter around the specified radius for an amount of time.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
Don Gagne's avatar
Don Gagne committed
109
            "category":             "Loiter",
110 111
            "param1": {
                "label":            "Hold:",
112
                "units":            "secs",
Don Gagne's avatar
Don Gagne committed
113
                "default":          30,
114 115 116 117
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Radius:",
118
                "units":            "m",
119
                "default":          50.0,
120
                "decimalPlaces":    2
121 122 123 124 125 126 127
            },
            "param4": {
                "label":            "Next waypoint start:",
                "enumStrings":      "Center,On Loiter",
                "enumValues":       "0,1",
                "default":          1,
                "decimalPlaces":    0
128 129 130 131 132 133 134
            }
        },
        {
            "id":           20,
            "rawName":      "MAV_CMD_NAV_RETURN_TO_LAUNCH",
            "friendlyName": "Return Home",
            "description":  "Send the vehicle back to the home position.",
Don Gagne's avatar
Don Gagne committed
135 136
            "friendlyEdit": true,
            "category":     "Basic"
137 138 139 140 141 142 143 144
        },
        {
            "id":                   21,
            "rawName":              "MAV_CMD_NAV_LAND",
            "friendlyName":         "Land",
            "description":          "Land vehicle at the specified location.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
Don Gagne's avatar
Don Gagne committed
145
            "category":             "Basic",
146 147
            "param1": {
                "label":            "Abort Alt:",
148
                "units":            "m",
Don Gagne's avatar
Don Gagne committed
149
                "default":          25.0,
150
                "decimalPlaces":    2
151 152 153
            },
            "param4": {
                "label":            "Heading:",
154
                "units":            "radians",
Don Gagne's avatar
Don Gagne committed
155
                "default":          0.0,
156 157 158 159 160 161 162 163 164 165
                "decimalPlaces":    2
            }
        },
        {
            "id":                   22,
            "rawName":              "MAV_CMD_NAV_TAKEOFF",
            "friendlyName":         "Takeoff",
            "description":          "Take off from the ground and travel towards the specified position.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
Don Gagne's avatar
Don Gagne committed
166
            "category":             "Basic",
167 168
            "param1": {
                "label":            "Pitch:",
169
                "units":            "deg",
170
                "default":          15,
171 172 173 174
                "decimalPlaces":    2
            },
            "param4": {
                "label":            "Heading:",
175
                "units":            "radians",
Don Gagne's avatar
Don Gagne committed
176
                "default":          0.0,
177 178 179
                "decimalPlaces":    2
            }
        },
180 181 182
        { "id": 23, "rawName": "MAV_CMD_NAV_LAND_LOCAL", "friendlyName": "Land local" },
        { "id": 24, "rawName": "MAV_CMD_NAV_TAKEOFF_LOCAL", "friendlyName": "Takeoff local" },
        { "id": 25, "rawName": "MAV_CMD_NAV_FOLLOW", "friendlyName": "Nav follow" },
Don Gagne's avatar
Don Gagne committed
183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199
        {
            "id":                    30,
            "rawName":              "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT",
            "friendlyName":         "Change Altitude",
            "description":          "Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command.",
            "specifiesCoordinate":  false,
            "friendlyEdit":         true,
            "category":             "Flight control",
            "param1": {
                "label":            "Mode:",
                "enumStrings":      "Climb,Neutral,Descend",
                "enumValues":       "1,0,2",
                "default":          1,
                "decimalPlaces":    0
            },
            "param7": {
                "label":            "Altitude:",
200
                "units":            "m",
Don Gagne's avatar
Don Gagne committed
201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221
                "default":          55,
                "decimalPlaces":    2
            }
        },
        {
            "id":                   31,
            "rawName":              "MAV_CMD_NAV_LOITER_TO_ALT",
            "friendlyName":         "Loiter (altitude)",
            "description":          "Loiter at specified position until altitude reached.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "Loiter",
            "param1": {
                "label":            "Heading wait:",
                "enumStrings":      "False,True",
                "enumValues":       "0,1",
                "default":          0,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Radius:",
222
                "units":            "m",
223
                "default":          50.0,
Don Gagne's avatar
Don Gagne committed
224
                "decimalPlaces":    2
225 226 227 228 229 230 231
            },
            "param4": {
                "label":            "Next waypoint start:",
                "enumStrings":      "Center,On Loiter",
                "enumValues":       "0,1",
                "default":          1,
                "decimalPlaces":    0
Don Gagne's avatar
Don Gagne committed
232 233
            }
        },
234 235
        { "id": 32, "rawName": "MAV_CMD_DO_FOLLOW", "friendlyName": "Follow Me" },
        { "id": 33, "rawName": "MAV_CMD_DO_FOLLOW_REPOSITION", "friendlyName": "Vehicle reposition" },
Don Gagne's avatar
Don Gagne committed
236 237 238
        {
            "id":                   80,
            "rawName":              "MAV_CMD_NAV_ROI",
239
            "friendlyName":         "Region of interest (nav)",
Don Gagne's avatar
Don Gagne committed
240 241
            "description":          "Sets the region of interest for cameras.",
            "specifiesCoordinate":  true,
242
            "standaloneCoordinate": true,
Don Gagne's avatar
Don Gagne committed
243
            "friendlyEdit":         true,
Don Gagne's avatar
Don Gagne committed
244
            "category":             "Camera",
Don Gagne's avatar
Don Gagne committed
245 246 247 248 249 250 251 252 253 254 255 256 257
            "param1": {
                "label":            "Mode:",
                "enumStrings":      "None,Next waypoint,Mission item,Location,ROI item",
                "enumValues":       "0,1,2,3,4",
                "default":          3,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Mission Index:",
                "default":          0,
                "decimalPlaces":    0
            },
            "param3": {
258
                "label":            "ROI Index:",
Don Gagne's avatar
Don Gagne committed
259 260 261 262
                "default":          0,
                "decimalPlaces":    0
            }
        },
Don Gagne's avatar
Don Gagne committed
263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287
        {
            "id":                   81,
            "rawName":              "MAV_CMD_NAV_PATHPLANNING",
            "friendlyName":         "Path planning",
            "description":          "Control autonomous path planning.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "Advanced",
            "param1": {
                "label":            "Local planning:",
                "enumStrings":      "Disable,Enable,Enable+reset",
                "enumValues":       "0,1,2",
                "default":          1,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Full planning:",
                "enumStrings":      "Disable,Enable,Enable+reset,Enable+reset route only",
                "enumValues":       "0,1,2,3",
                "default":          1,
                "decimalPlaces":    0
            },
            "param4": {
                "label":            "Heading goal:",
                "default":          0,
288
                "units":            "deg",
Don Gagne's avatar
Don Gagne committed
289 290 291 292 293 294 295 296 297 298 299 300 301
                "decimalPlaces":    2
            }
        },
        {
            "id":                   82,
            "rawName":              "MAV_CMD_NAV_SPLINE_WAYPOINT",
            "friendlyName":         "Spline waypoint",
            "description":          "Travel to a position in 3D space using spline path.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "Basic",
            "param1": {
                "label":            "Hold:",
302
                "units":            "secs",
Don Gagne's avatar
Don Gagne committed
303 304
                "default":          0,
                "decimalPlaces":    0
305
            }        
Don Gagne's avatar
Don Gagne committed
306
        },
307
        { "id": 83, "rawName": "MAV_CMD_NAV_ALTITUDE_WAIT", "friendlyName": "Altitude wait" },
Don Gagne's avatar
Don Gagne committed
308 309 310
        {
            "id":                   84,
            "rawName":              "MAV_CMD_NAV_VTOL_TAKEOFF",
Don Gagne's avatar
Don Gagne committed
311
            "friendlyName":         "VTOL takeoff and transition",
Don Gagne's avatar
Don Gagne committed
312
            "description":          "Takeoff in VTOL mode, transition to forward flight and fly to the specified location.",
Don Gagne's avatar
Don Gagne committed
313 314 315 316 317
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "VTOL",
            "param4": {
                "label":            "Heading:",
318
                "units":            "deg",
Don Gagne's avatar
Don Gagne committed
319 320 321 322 323 324 325
                "default":          0.0,
                "decimalPlaces":    2
            }
        },
        {
            "id":                   85,
            "rawName":              "MAV_CMD_NAV_VTOL_LAND",
Don Gagne's avatar
Don Gagne committed
326 327
            "friendlyName":         "VTOL transition and land",
            "description":          "Transition to VTOL mode and land.",
Don Gagne's avatar
Don Gagne committed
328 329 330 331 332
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "VTOL",
            "param4": {
                "label":            "Heading:",
333
                "units":            "deg",
Don Gagne's avatar
Don Gagne committed
334 335 336 337
                "default":          0.0,
                "decimalPlaces":    2
            }
        },
338 339 340 341 342 343
        {
            "id":           92,
            "rawName":      "MAV_CMD_NAV_GUIDED_ENABLE",
            "friendlyName": "Guided enable",
            "description":  "Enable/Disabled guided mode.",
            "param1": {
344 345 346
                "label":            "Enable",
                "enumStrings":      "Disable,Enable",
                "enumValues":       "0,1",
347 348 349 350
                "default":          1,
                "decimalPlaces":    0
            }
        },
351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377
        {
            "id":           94,
            "rawName":      "MAV_CMD_NAV_DELAY",
            "friendlyName": "Delay until",
            "description":  "Delay unti the specified time is reached.",
            "param1": {
                "label":            "Hold:",
                "units":            "secs",
                "default":          30,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Hour (utc):",
                "default":          0,
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Min (utc):",
                "default":          0,
                "decimalPlaces":    0
            },
            "param4": {
                "label":            "Sec (utc):",
                "default":          0,
                "decimalPlaces":    0
            }
        },
378 379 380 381 382 383
        {
            "id":           112,
            "rawName":      "MAV_CMD_CONDITION_DELAY",
            "friendlyName": "Delay",
            "description":  "Delay the mission for the number of seconds.",
            "friendlyEdit": true,
Don Gagne's avatar
Don Gagne committed
384
            "category":     "Basic",
385 386
            "param1": {
                "label":            "Hold:",
387
                "units":            "secs",
Don Gagne's avatar
Don Gagne committed
388
                "default":          30,
389 390 391
                "decimalPlaces":    0
            }
        },
392 393 394 395 396
        {
            "id":           113,
            "rawName":      "MAV_CMD_CONDITION_CHANGE_ALT",
            "description":  "Delay the mission until the specified altitide is reached.",
            "friendlyName": "Wait for altitude",
Don Gagne's avatar
Don Gagne committed
397
            "category":     "Conditionals",
398 399 400 401 402 403 404 405
            "param1": {
                "label":            "Rate:",
                "units":            "m/s",
                "default":          5,
                "decimalPlaces":    2
            },
            "param7": {
                "label":            "Altitude:",
406
                "units":            "m",
407 408 409 410 411 412 413 414 415
                "default":          55,
                "decimalPlaces":    2
            }
        },
        {
            "id":           114,
            "rawName":      "MAV_CMD_CONDITION_DISTANCE",
            "description":  "Delay the mission until within the specified distance of the next waypoint.",
            "friendlyName": "Wait for distance",
Don Gagne's avatar
Don Gagne committed
416
            "category":     "Conditionals",
417 418
            "param1": {
                "label":            "Distance:",
419
                "units":            "m",
420
                "default":          10,
421 422 423 424 425 426 427 428
                "decimalPlaces":    2
            }
        },
        {
            "id":           115,
            "rawName":      "MAV_CMD_CONDITION_YAW",
            "friendlyName": "Wait for Heading",
            "description":  "Delay the mission until the specified heading is reached.",
Don Gagne's avatar
Don Gagne committed
429
            "category":     "Conditionals",
430 431
            "param1": {
                "label":            "Heading:",
432
                "units":            "deg",
433 434 435 436 437 438 439 440 441 442 443
                "default":          0,
                "decimalPlaces":    1
            },
            "param2": {
                "label":            "Rate:",
                "units":            "degrees/s",
                "default":          5,
                "decimalPlaces":    1
            },
            "param3": {
                "label":            "Direction:",
444 445 446
                "enumStrings":      "Clockwise,Counter-Clockwise",
                "enumValues":       "1,-1",
                "default":          1
447
            },
448
            "param4": {
449 450 451
                "label":            "Offset:",
                "enumStrings":      "Relative,Absolute",
                "enumValues":       "1,0",
452
                "default":          1
453 454
            }
        },
455
        { "id": 176, "rawName": "MAV_CMD_DO_SET_MODE", "friendlyName": "Set mode" },
456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477
        {
            "id":           176,
            "rawName":      "MAV_CMD_DO_SET_MODE",
            "friendlyName": "Set flight mode",
            "description":  "Set flight mode.",
            "category":     "Advanced",
            "param1": {
                "label":            "Mode:",
                "default":          0,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Custom Mode:",
                "default":          0,
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Sub Mode:",
                "default":          0,
                "decimalPlaces":    0
            }
        },
478 479 480 481 482 483
        {
            "id":           177,
            "rawName":      "MAV_CMD_DO_JUMP",
            "friendlyName": "Jump to item",
            "description":  "Mission will continue at the specified item.",
            "friendlyEdit": true,
484
            "category":     "Advanced",
485
            "param1": {
Don Gagne's avatar
Don Gagne committed
486 487
                "label":            "Item #:",
                "default":          1,
488 489 490 491
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Repeat:",
492
                "default":          10,
493 494 495
                "decimalPlaces":    0
            }
        },
496 497 498 499 500
        {
            "id":           178,
            "rawName":      "MAV_CMD_DO_CHANGE_SPEED",
            "friendlyName": "Change speed",
            "description":  "Change speed and/or throttle set points.",
Don Gagne's avatar
Don Gagne committed
501
            "category":     "Flight control",
502 503 504 505
            "param1": {
                "label":            "Type:",
                "enumStrings":      "Airspeed,Ground Speed",
                "enumValues":       "0,1",
506
                "default":          0
507 508 509 510
            },
            "param2": {
                "label":            "Speed:",
                "units":            "m/s",
511
                "default":          0
512 513 514 515
            },
            "param3": {
                "label":            "Throttle:",
                "units":            "%",
516
                "default":          0
517 518 519 520 521
            },
            "param4": {
                "label":            "Offset:",
                "enumStrings":      "Relative,Absolute",
                "enumValues":       "1,0",
522
                "default":          0
523 524
            }
        },
Don Gagne's avatar
Don Gagne committed
525 526 527 528 529 530 531 532 533 534 535 536 537
        {
            "id":                   179,
            "rawName":              "MAV_CMD_DO_SET_HOME",
            "friendlyName":         "Set home location",
            "description":          "Changes the home location either to the current location or a specified location.",
            "specifiesCoordinate":  true,
            "standaloneCoordinate": true,
            "friendlyEdit":         true,
            "category":             "Advanced",
            "param1": {
                "label":            "Mode:",
                "enumStrings":      "Vehicle position,Specified position",
                "enumValues":       "1,0",
538
                "default":          0
Don Gagne's avatar
Don Gagne committed
539 540
            }
        },
541
        { "id": 180, "rawName": "MAV_CMD_DO_SET_PARAMETER", "friendlyName": "Set Parameter" },
542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575
        {
            "id":           181,
            "rawName":      "MAV_CMD_DO_SET_RELAY",
            "friendlyName": "Set relay",
            "description":  "Set relay to a condition.",
            "param1": {
                "label":            "Relay #:",
                "default":          0,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Value:",
                "default":          0
            }
        },
        {
            "id":           182,
            "rawName":      "MAV_CMD_DO_REPEAT_RELAY",
            "friendlyName": "Cycle relay",
            "description":  "Cycle relay on/off for desired cycles/time.",
            "param1": {
                "label":            "Relay #:",
                "default":          0,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Cycles:",
                "default":          1,
                "units":            "count",
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Time:",
                "default":          10,
576
                "units":            "secs",
577 578 579
                "decimalPlaces":    0
            }
        },
Don Gagne's avatar
Don Gagne committed
580 581 582 583 584 585 586 587 588 589 590 591 592
        {
            "id":           183,
            "rawName":      "MAV_CMD_DO_SET_SERVO",
            "friendlyName": "Set servo",
            "description":  "Set servo to specified PWM value.",
            "friendlyEdit": true,
            "param1": {
                "label":            "Servo:",
                "default":          1,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "PWM:",
593
                "default":          1500,
Don Gagne's avatar
Don Gagne committed
594 595 596
                "decimalPlaces":    0
            }
        },
597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620
        {
            "id":           184,
            "rawName":      "MAV_CMD_DO_REPEAT_SERVO",
            "friendlyName": "Cycle servo",
            "description":  "Set servo to specified PWM value.",
            "param1": {
                "label":            "Servo:",
                "default":          1,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "PWM:",
                "default":          1000,
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Cycles:",
                "default":          1,
                "units":            "count",
                "decimalPlaces":    0
            },
            "param4": {
                "label":            "Time:",
                "default":          10,
621
                "units":            "secs",
622 623 624
                "decimalPlaces":    0
            }
        },
625
        { "id": 185, "rawName": "MAV_CMD_DO_FLIGHTTERMINATION", "friendlyName": "Flight termination" },
Don Gagne's avatar
Don Gagne committed
626 627 628 629 630 631
        {
            "id":                   189,
            "rawName":              "MAV_CMD_DO_LAND_START",
            "friendlyName":         "Land start",
            "description":          "Marker to indicate start of landing sequence.",
            "friendlyEdit":         true,
632
            "category":             "Flight control"
Don Gagne's avatar
Don Gagne committed
633
        },
634 635 636 637
        { "id": 190, "rawName": "MAV_CMD_DO_RALLY_LAND", "friendlyName": "Rally land" },
        { "id": 191, "rawName": "MAV_CMD_DO_GO_AROUND", "friendlyName": "Go around" },
        { "id": 192, "rawName": "MAV_CMD_DO_REPOSITION", "friendlyName": "Reposition" },
        { "id": 193, "rawName": "MAV_CMD_DO_PAUSE_CONTINUE", "friendlyName": "Pause/Continue" },
638 639 640 641 642 643 644 645 646 647 648 649 650 651
        {
            "id":                   194,
            "rawName":              "MAV_CMD_DO_SET_REVERSE",
            "friendlyName":         "Set moving direction" ,
            "description":          "Set moving direction to forward or reverse.",
            "friendlyEdit":         true,
            "category":             "Advanced",
            "param1": {
                "label":            "Direction:",
                "enumStrings":      "Forward,Reverse",
                "enumValues":       "0,1",
                "default":          0
            }
        },
652
        { "id": 200, "rawName": "MAV_CMD_DO_CONTROL_VIDEO", "friendlyName": "Control video" },
653
        {
654 655 656 657
            "id":                   201,
            "rawName":              "MAV_CMD_DO_SET_ROI",
            "friendlyName":         "Region of interest (cmd)" ,
            "description":          "Sets the region of interest for cameras.",
658
            "specifiesCoordinate":  true,
659
            "standaloneCoordinate": true,
660
            "friendlyEdit":         true,
Don Gagne's avatar
Don Gagne committed
661
            "category":             "Camera",
662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684
            "param1": {
                "label":            "Mode:",
                "enumStrings":      "None,Next waypoint,Mission item,Location,ROI item",
                "enumValues":       "0,1,2,3,4",
                "default":          3,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Mission Index:",
                "default":          0,
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "ROI Index:",
                "default":          0,
                "decimalPlaces":    0
            }
        },
        {
            "id":           202,
            "rawName":      "MAV_CMD_DO_DIGICAM_CONFIGURE",
            "friendlyName": "Camera config",
            "description":  "Configure onboard camera controller.",
Don Gagne's avatar
Don Gagne committed
685
            "category":     "Camera",
686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728
            "param1": {
                "label":            "Mode:",
                "default":          0,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Shutter spd:",
                "default":          60,
                "units":            "1/secs",
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Aperture:",
                "default":          4,
                "units":            "F stop",
                "decimalPlaces":    1
            },
            "param4": {
                "label":            "ISO:",
                "default":          200,
                "decimalPlaces":    0
            },
            "param5": {
                "label":            "Exposure:",
                "default":          0,
                "decimalPlaces":    0
            },
            "param6": {
                "label":            "Command:",
                "default":          0,
                "decimalPlaces":    0
            },
            "param7": {
                "label":            "Cut off:",
                "default":          0,
                "decimalPlaces":    2
            }
        },
        {
            "id":           203,
            "friendlyName": "Camera control",
            "rawName":      "MAV_CMD_DO_DIGICAM_CONTROL",
            "description":  "Control onboard camera.",
Don Gagne's avatar
Don Gagne committed
729
            "category":     "Camera",
730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760
            "param1": {
                "label":            "Session:",
                "default":          0,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Zoom:",
                "default":          0,
                "decimalPlaces":    3
            },
            "param3": {
                "label":            "Step:",
                "default":          0,
                "decimalPlaces":    3
            },
            "param4": {
                "label":            "Focus lock:",
                "default":          0,
                "decimalPlaces":    0
            },
            "param5": {
                "label":            "Command:",
                "default":          0,
                "decimalPlaces":    0
            },
            "param6": {
                "label":            "Id:",
                "default":          0,
                "decimalPlaces":    0
            }
        },
Leon's avatar
Leon committed
761 762 763 764 765
        {
            "id":           204,
            "rawName":      "MAV_CMD_DO_MOUNT_CONFIGURE",
            "friendlyName": "Configure Mount",
            "description":  "Configure the vehicle mount (e.g. gimbal).",
Leon's avatar
Leon committed
766
            "category":     "Advanced",
Leon's avatar
Leon committed
767 768 769 770
            "param1": {
                "label":            "Mode:",
                "default":          0,
                "decimalPlaces":    0,
Ricardo de Almeida Gonzaga's avatar
Ricardo de Almeida Gonzaga committed
771
                "enumStrings":      "Retract,Neutral,Mavlink Targeting,RC Targeting,GPS Point",
Leon's avatar
Leon committed
772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795
                "enumValues":       "0,1,2,3,4"
            },
            "param2": {
                "label":            "Stabilize Roll:",
                "default":          0,
                "decimalPlaces":    0,
                "enumStrings":      "No,Yes",
                "enumValues":       "0,1"
            },
            "param3": {
                "label":            "Stabilize Pitch:",
                "default":          0,
                "decimalPlaces":    0,
                "enumStrings":      "No,Yes",
                "enumValues":       "0,1"
            },
            "param4": {
                "label":            "Stabilize Yaw:",
                "default":          0,
                "decimalPlaces":    0,
                "enumStrings":      "No,Yes",
                "enumValues":       "0,1"
            }
        },
796 797 798
        {
            "id":           205,
            "rawName":      "MAV_CMD_DO_MOUNT_CONTROL",
Leon's avatar
Leon committed
799 800
            "friendlyName": "Control Mount",
            "description":  "Control the vehicle mount (e.g. gimbal).",
Leon's avatar
Leon committed
801
            "category":     "Advanced",
802 803 804
            "param1": {
                "label":            "Lat/Pitch:",
                "default":          0,
805
                "units":            "deg",
806 807 808 809 810
                "decimalPlaces":    7
            },
            "param2": {
                "label":            "Lon/Roll:",
                "default":          0,
811
                "units":            "deg",
812 813 814 815 816 817 818 819 820 821 822
                "decimalPlaces":    7
            },
            "param3": {
                "label":            "Alt/Yaw:",
                "default":          0,
                "decimalPlaces":    7
            },
            "param7": {
                "label":            "Mode:",
                "default":          0,
                "decimalPlaces":    0,
Leon's avatar
Leon committed
823
                "enumStrings":      "Retract,Neutral,Mavlink Targeting,RC Targeting,GPS Point",
824 825 826 827 828 829 830 831
                "enumValues":       "0,1,2,3,4"
            }
        },
        {
            "id":           206,
            "rawName":      "MAV_CMD_DO_SET_CAM_TRIGG_DIST",
            "friendlyName": "Camera trigger distance",
            "description":  "Set camera trigger distance.",
Leon's avatar
Leon committed
832
            "category":     "Camera",
833 834 835
            "param1": {
                "label":            "Distance:",
                "default":          25,
836
                "units":            "m",
837 838 839
                "decimalPlaces":    2
            }
        },
Don Gagne's avatar
Don Gagne committed
840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871
        {
            "id":                   207,
            "rawName":              "MAV_CMD_DO_FENCE_ENABLE",
            "friendlyName":         "Enable geofence",
            "description":          "Enable/Disable geofence.",
            "specifiesCoordinate":  false,
            "friendlyEdit":         true,
            "category":             "Safety",
            "param1": {
                "label":            "Enable:",
                "enumStrings":      "Disable,Disable floor only,Enable",
                "enumValues":       "0,2,1",
                "default":          1,
                "decimalPlaces":    0
            }
        },
        {
            "id":                   208,
            "rawName":              "MAV_CMD_DO_PARACHUTE",
            "friendlyName":         "Trigger parachute",
            "description":          "Enable/Disable geofence.",
            "specifiesCoordinate":  false,
            "friendlyEdit":         true,
            "category":             "Safety",
            "param1": {
                "label":            "Trigger:",
                "enumStrings":      "Disable,Enable,Release",
                "enumValues":       "0,1,2",
                "default":          1,
                "decimalPlaces":    0
            }
        },
872
        { "id": 209, "rawName": "MAV_CMD_DO_MOTOR_TEST", "friendlyName": "Motor test" },
Don Gagne's avatar
Don Gagne committed
873 874 875 876 877 878 879 880 881 882 883 884
        {
            "id":                   210,
            "rawName":              "MAV_CMD_DO_INVERTED_FLIGHT",
            "friendlyName":         "Inverted flight",
            "description":          "Change to/from inverted flight.",
            "specifiesCoordinate":  false,
            "friendlyEdit":         true,
            "category":             "Flight control",
            "param1": {
                "label":            "Inverted:",
                "enumStrings":      "Normal,Inverted",
                "enumValues":       "0,1",
885
                "default":          0
Don Gagne's avatar
Don Gagne committed
886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904
            }
        },
        {
            "id":                   211,
            "rawName":              "MAV_CMD_DO_GRIPPER",
            "friendlyName":         "Gripper",
            "description":          "Operate EPM gripper.",
            "specifiesCoordinate":  false,
            "friendlyEdit":         true,
            "category":             "Advanced",
            "param1": {
                "label":            "Gripper id:",
                "default":          1,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Action:",
                "enumStrings":      "Release,Grab",
                "enumValues":       "0,1",
905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920
                "default":          0
            }
        },
        {
            "id":                   212,
            "rawName":              "MAV_CMD_DO_AUTOTUNE_ENABLE",
            "friendlyName":         "AutoTune Enable",
            "description":          "AutoTune Enable.",
            "specifiesCoordinate":  false,
            "friendlyEdit":         true,
            "category":             "Advanced",
            "param2": {
                "label":            "Enable:",
                "enumStrings":      "Enable,Disable",
                "enumValues":       "1,0",
                "default":          1
Don Gagne's avatar
Don Gagne committed
921 922
            }
        },
923 924
        { "id": 220, "rawName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT" },
        { "id": 221, "rawName": "MAV_CMD_DO_GUIDED_MASTER" },
925 926 927
        {
            "id":           222,
            "rawName":      "MAV_CMD_DO_GUIDED_LIMITS",
Don Gagne's avatar
Don Gagne committed
928
            "friendlyName": "Guided limits",
929 930 931 932
            "description":  "Set limits for external control",
            "param1": {
                "label":            "Timeout:",
                "default":          0,
933
                "units":            "secs",
934 935 936 937 938
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Min Alt:",
                "default":          25,
939
                "units":            "m",
940 941 942 943
                "decimalPlaces":    2
            },
            "param3": {
                "label":            "Max Alt:",
944
                "units":            "m",
945
                "default":          100,
Don Gagne's avatar
Don Gagne committed
946
                "decimalPlaces":    2
947 948 949 950
            },
            "param4": {
                "label":            "H Limit:",
                "default":          25,
951
                "units":            "m",
952 953 954
                "decimalPlaces":    2
            }
        },
955 956 957 958 959 960 961
        { "id": 241, "rawName": "MAV_CMD_PREFLIGHT_CALIBRATION", "friendlyName": "Calibration" },
        { "id": 242, "rawName": "MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS", "friendlyName": "Set sensor offsets" },
        { "id": 243, "rawName": "MAV_CMD_PREFLIGHT_UAVCAN", "friendlyName": "UAVCAN configure" },
        { "id": 245, "rawName": "MAV_CMD_PREFLIGHT_STORAGE", "friendlyName": "Store parameters" },
        { "id": 246, "rawName": "MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN", "friendlyName": "Reboot/Shutdown vehicle" },
        { "id": 252, "rawName": "MAV_CMD_OVERRIDE_GOTO", "friendlyName": "Override goto" },
        { "id": 300, "rawName": "MAV_CMD_MISSION_START", "friendlyName": "Mission start" },
962
        { "id": 400, "rawName": "MAV_CMD_COMPONENT_ARM_DISARM", "friendlyName": "Arm/Disarm" },
963 964 965 966 967 968 969 970 971 972 973
        { "id": 410, "rawName": "MAV_CMD_GET_HOME_POSITION", "friendlyName": "Get home position" },
        { "id": 500, "rawName": "MAV_CMD_START_RX_PAIR", "friendlyName": "Bind Spektrum receiver" },
        { "id": 510, "rawName": "MAV_CMD_GET_MESSAGE_INTERVAL", "friendlyName": "Get message interval" },
        { "id": 511, "rawName": "MAV_CMD_SET_MESSAGE_INTERVAL", "friendlyName": "Set message interval" },
        { "id": 520, "rawName": "MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES", "friendlyName": "Get capabilities" },
        { "id": 2000, "rawName": "MAV_CMD_IMAGE_START_CAPTURE", "friendlyName": "Start image capture" },
        { "id": 2001, "rawName": "MAV_CMD_IMAGE_STOP_CAPTURE", "friendlyName": "Stop image capture" },
        { "id": 2003, "rawName": "MAV_CMD_DO_TRIGGER_CONTROL", "friendlyName": "Trigger control" },
        { "id": 2500, "rawName": "MAV_CMD_VIDEO_START_CAPTURE", "friendlyName": "Start video capture" },
        { "id": 2501, "rawName": "MAV_CMD_VIDEO_STOP_CAPTURE", "friendlyName": "Stop video cpture" },
        { "id": 2800, "rawName": "MAV_CMD_PANORAMA_CREATE", "friendlyName": "Create panorama" },
974 975
        {
            "id": 3000,
976
            "rawName":      "MAV_CMD_DO_VTOL_TRANSITION",
977
            "friendlyName": "VTOL Transition",
Don Gagne's avatar
Don Gagne committed
978
            "description":  "Perform flight mode transition.",
Don Gagne's avatar
Don Gagne committed
979
            "category":     "VTOL",
980
            "param1": {
981
                "label":            "Mode:",
982
                "default":          3,
983 984 985 986
                "enumStrings":      "Hover Mode,Plane Mode",
                "enumValues":       "3,4"
            }
        },
987 988
        { "id": 30001, "rawName": "MAV_CMD_PAYLOAD_PREPARE_DEPLOY", "friendlyName": "Payload prepare deploy" },
        { "id": 30002, "rawName": "MAV_CMD_PAYLOAD_CONTROL_DEPLOY", "friendlyName": "Payload control deploy" }
989 990
    ]
}