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{
"version": 1,
"mavCmdInfo": [
{
"comment": "MAV_CMD_NAV_LAST: Used for fake home position waypoint",
"id": 95,
"friendlyName": "Home",
"description": "Home Position",
"specifiesCoordinate": true,
"friendlyEdit": true
},
{
"id": 16,
"rawName": "MAV_CMD_NAV_WAYPOINT",
"friendlyName": "Waypoint",
"description": "Travel to a position in 3D space.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"param1": {
"label": "Hold:",
"units": "seconds",
},
"param2": {
"label": "Accept radius:",
"units": "meters",
"default": 3.0,
"decimalPlaces": 2
}
},
{
"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,
"param3": {
"label": "Radius:",
"units": "meters",
"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,
"decimalPlaces": 0
},
"param3": {
"label": "Radius:",
"units": "meters",
"decimalPlaces": 2
}
},
{
"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,
"param1": {
"label": "Hold:",
"units": "seconds",
"decimalPlaces": 0
},
"param3": {
"label": "Radius:",
"units": "meters",
"decimalPlaces": 2
}
},
{
"id": 20,
"rawName": "MAV_CMD_NAV_RETURN_TO_LAUNCH",
"friendlyName": "Return Home",
"description": "Send the vehicle back to the home position.",
},
{
"id": 21,
"rawName": "MAV_CMD_NAV_LAND",
"friendlyName": "Land",
"description": "Land vehicle at the specified location.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"param1": {
"label": "Abort Alt:",
"units": "meters",
"decimalPlaces": 3
},
"param4": {
"label": "Heading:",
"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,
"decimalPlaces": 2
},
"param4": {
"label": "Heading:",
"decimalPlaces": 2
}
},
{ "id": 23, "rawName": "MAV_CMD_NAV_LAND_LOCAL", "friendlyName": "MAV_CMD_NAV_LAND_LOCAL" },
{ "id": 24, "rawName": "MAV_CMD_NAV_TAKEOFF_LOCAL", "friendlyName": "MAV_CMD_NAV_TAKEOFF_LOCAL" },
{ "id": 25, "rawName": "MAV_CMD_NAV_FOLLOW", "friendlyName": "MAV_CMD_NAV_FOLLOW" },
{ "id": 30, "rawName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT", "friendlyName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT" },
{ "id": 31, "rawName": "MAV_CMD_NAV_LOITER_TO_ALT" },
"friendlyName": "Region of interest (nav)",
"description": "Sets the region of interest for cameras.",
"specifiesCoordinate": true,
"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": {
{ "id": 81, "rawName": "MAV_CMD_NAV_PATHPLANNING", "friendlyName": "MAV_CMD_NAV_PATHPLANNING" },
{ "id": 82, "rawName": "MAV_CMD_NAV_SPLINE_WAYPOINT", "friendlyName": "MAV_CMD_NAV_SPLINE_WAYPOINT" },
{ "id": 83, "rawName": "MAV_CMD_NAV_ALTITUDE_WAIT", "friendlyName": "MAV_CMD_NAV_ALTITUDE_WAIT" },
{
"id": 92,
"rawName": "MAV_CMD_NAV_GUIDED_ENABLE",
"friendlyName": "Guided enable",
"description": "Enable/Disabled guided mode.",
"param1": {
"label": "Enable:",
"default": 1,
"decimalPlaces": 0
}
},
{
"id": 112,
"rawName": "MAV_CMD_CONDITION_DELAY",
"friendlyName": "Delay",
"description": "Delay the mission for the number of seconds.",
"friendlyEdit": true,
"param1": {
"label": "Hold:",
"units": "seconds",
{
"id": 113,
"rawName": "MAV_CMD_CONDITION_CHANGE_ALT",
"description": "Delay the mission until the specified altitide is reached.",
"friendlyName": "Wait for altitude",
"param1": {
"label": "Rate:",
"units": "m/s",
"default": 5,
"decimalPlaces": 2
},
"param7": {
"label": "Altitude:",
"units": "meters",
"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",
"param1": {
"label": "Distance:",
"units": "meters",
"default": 0,
"decimalPlaces": 2
}
},
{
"id": 115,
"rawName": "MAV_CMD_CONDITION_YAW",
"friendlyName": "Wait for Heading",
"description": "Delay the mission until the specified heading is reached.",
"param1": {
"label": "Heading:",
"units": "degrees",
"default": 0,
"decimalPlaces": 1
},
"param2": {
"label": "Rate:",
"units": "degrees/s",
"default": 5,
"decimalPlaces": 1
},
"param3": {
"label": "Direction:",
"default": 1,
"decimalPlaces": 0
},
"param3": {
"label": "Offset:",
"enumStrings": "Relative,Absolute",
"enumValues": "1,0",
"default": 5
}
},
{ "id": 159, "rawName": "MAV_CMD_CONDITION_LAST", "friendlyName": "MAV_CMD_CONDITION_LAST" },
{ "id": 176, "rawName": "MAV_CMD_DO_SET_MODE", "friendlyName": "MAV_CMD_DO_SET_MODE" },
{
"id": 177,
"rawName": "MAV_CMD_DO_JUMP",
"friendlyName": "Jump to item",
"description": "Mission will continue at the specified item.",
"friendlyEdit": true,
"decimalPlaces": 0
},
"param2": {
"label": "Repeat:",
{
"id": 178,
"rawName": "MAV_CMD_DO_CHANGE_SPEED",
"friendlyName": "Change speed",
"description": "Change speed and/or throttle set points.",
"param1": {
"label": "Type:",
"enumStrings": "Airspeed,Ground Speed",
"enumValues": "0,1",
"default": 1
},
"param2": {
"label": "Speed:",
"units": "m/s",
"default": -1
},
"param3": {
"label": "Throttle:",
"units": "%",
"default": -1
}
},
{ "id": 179, "rawName": "MAV_CMD_DO_SET_HOME", "friendlyName": "MAV_CMD_DO_SET_HOME" },
{ "id": 180, "rawName": "MAV_CMD_DO_SET_PARAMETER", "friendlyName": "MAV_CMD_DO_SET_PARAMETER" },
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{
"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,
"units": "seconds",
"decimalPlaces": 0
}
},
{
"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:",
"default": 1000,
"decimalPlaces": 0
}
},
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{
"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,
"units": "seconds",
"decimalPlaces": 0
}
},
{ "id": 185, "rawName": "MAV_CMD_DO_FLIGHTTERMINATION", "friendlyName": "MAV_CMD_DO_FLIGHTTERMINATION" },
{ "id": 189, "rawName": "MAV_CMD_DO_LAND_START", "friendlyName": "MAV_CMD_DO_LAND_START" },
{ "id": 190, "rawName": "MAV_CMD_DO_RALLY_LAND", "friendlyName": "MAV_CMD_DO_RALLY_LAND" },
{ "id": 191, "rawName": "MAV_CMD_DO_GO_AROUND", "friendlyName": "MAV_CMD_DO_GO_AROUND" },
{ "id": 200, "rawName": "MAV_CMD_DO_CONTROL_VIDEO", "friendlyName": "MAV_CMD_DO_CONTROL_VIDEO" },
"id": 201,
"rawName": "MAV_CMD_DO_SET_ROI",
"friendlyName": "Region of interest (cmd)" ,
"description": "Sets the region of interest for cameras.",
"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.",
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"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.",
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"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
}
},
{ "id": 204, "rawName": "MAV_CMD_DO_MOUNT_CONFIGURE", "friendlyName": "MAV_CMD_DO_MOUNT_CONFIGURE" },
{
"id": 205,
"rawName": "MAV_CMD_DO_MOUNT_CONTROL",
"friendlyName": "Mount config",
"description": "Control antenna mount or camera.",
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"param1": {
"label": "Lat/Pitch:",
"default": 0,
"decimalPlaces": 7
},
"param2": {
"label": "Lon/Roll:",
"default": 0,
"decimalPlaces": 7
},
"param3": {
"label": "Alt/Yaw:",
"default": 0,
"decimalPlaces": 7
},
"param7": {
"label": "Mode:",
"default": 0,
"decimalPlaces": 0,
"enumStrings": "Retract,Neutral,Mavlink Targetting,RC Targetting, GPS Point",
"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.",
"param1": {
"label": "Distance:",
"default": 25,
"units": "meters",
"decimalPlaces": 2
}
},
{ "id": 207, "rawName": "MAV_CMD_DO_FENCE_ENABLE", "friendlyName": "MAV_CMD_DO_FENCE_ENABLE" },
{ "id": 208, "rawName": "MAV_CMD_DO_PARACHUTE", "friendlyName": "MAV_CMD_DO_PARACHUTE" },
{ "id": 209, "rawName": "MAV_CMD_DO_MOTOR_TEST", "friendlyName": "MAV_CMD_DO_MOTOR_TEST" },
{ "id": 210, "rawName": "MAV_CMD_DO_INVERTED_FLIGHT", "friendlyName": "MAV_CMD_DO_INVERTED_FLIGHT" },
{ "id": 220, "rawName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT", "friendlyName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT" },
{ "id": 221, "rawName": "MAV_CMD_DO_GUIDED_MASTER", "friendlyName": "MAV_CMD_DO_GUIDED_MASTER" },
{
"id": 222,
"rawName": "MAV_CMD_DO_GUIDED_LIMITS",
"friendlyName": "External control limits",
"description": "Set limits for external control",
"param1": {
"label": "Timeout:",
"default": 0,
"units": "seconds",
"decimalPlaces": 0
},
"param2": {
"label": "Min Alt:",
"default": 25,
"units": "m(AMSL)",
"decimalPlaces": 2
},
"param3": {
"label": "Max Alt:",
"default": 100,
"decimalPlaces": 7
},
"param4": {
"label": "H Limit:",
"default": 25,
"units": "m(AMSL)",
"decimalPlaces": 2
}
},
{ "id": 252, "rawName": "MAV_CMD_OVERRIDE_GOTO", "friendlyName": "MAV_CMD_OVERRIDE_GOTO" },
{ "id": 300, "rawName": "MAV_CMD_MISSION_START", "friendlyName": "MAV_CMD_MISSION_START" },
{ "id": 400, "rawName": "MAV_CMD_COMPONENT_ARM_DISARM", "friendlyName": "MAV_CMD_COMPONENT_ARM_DISARM" },
{ "id": 2000, "rawName": "MAV_CMD_IMAGE_START_CAPTURE", "friendlyName": "MAV_CMD_IMAGE_START_CAPTURE" },
{ "id": 2001, "rawName": "MAV_CMD_IMAGE_STOP_CAPTURE", "friendlyName": "MAV_CMD_IMAGE_STOP_CAPTURE" },
{ "id": 2003, "rawName": "MAV_CMD_DO_TRIGGER_CONTROL", "friendlyName": "MAV_CMD_DO_TRIGGER_CONTROL" },
{ "id": 2500, "rawName": "MAV_CMD_VIDEO_START_CAPTURE", "friendlyName": "MAV_CMD_VIDEO_START_CAPTURE" },
{ "id": 2501, "rawName": "MAV_CMD_VIDEO_STOP_CAPTURE", "friendlyName": "MAV_CMD_VIDEO_STOP_CAPTURE" },
{ "id": 2800, "rawName": "MAV_CMD_PANORAMA_CREATE", "friendlyName": "MAV_CMD_PANORAMA_CREATE" },
{
"id": 3000,
"rawName": "MAV_CMD_DO_VTOL_TRANSITION",
"friendlyName": "VTOL Transition",
"description": "Perform flight mode transition",
"category": "Basic",
"decimalPlaces": 0,
"enumStrings": "Hover Mode,Plane Mode",
"enumValues": "3,4"
}
},