{ "version": 1, "mavCmdInfo": [ { "comment": "MAV_CMD_NAV_LAST: Used for fake home position waypoint", "id": 95, "rawName": "HomeRaw", "friendlyName": "Home Position", "description": "Planned home position for mission.", "specifiesCoordinate": true, "friendlyEdit": true, "category": "Basic", "param5": { "label": "Latitude:", "default": 37.803784, "decimalPlaces": 7 }, "param6": { "label": "Longitude:", "default": -122.462276, "decimalPlaces": 7 } }, { "id": 16, "rawName": "MAV_CMD_NAV_WAYPOINT", "friendlyName": "Waypoint", "description": "Travel to a position in 3D space.", "specifiesCoordinate": true, "friendlyEdit": true, "category": "Basic", "param1": { "label": "Hold:", "units": "seconds", "default": 0, "decimalPlaces": 0 } }, { "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, "category": "Loiter", "param3": { "label": "Radius:", "units": "meters", "default": 10.0, "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, "category": "Loiter", "param1": { "label": "Turns:", "default": 1, "decimalPlaces": 0 }, "param3": { "label": "Radius:", "units": "meters", "default": 10.0, "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, "category": "Loiter", "param1": { "label": "Hold:", "units": "seconds", "default": 30, "decimalPlaces": 0 }, "param3": { "label": "Radius:", "units": "meters", "default": 10.0, "decimalPlaces": 2 } }, { "id": 20, "rawName": "MAV_CMD_NAV_RETURN_TO_LAUNCH", "friendlyName": "Return Home", "description": "Send the vehicle back to the home position.", "friendlyEdit": true, "category": "Basic" }, { "id": 21, "rawName": "MAV_CMD_NAV_LAND", "friendlyName": "Land", "description": "Land vehicle at the specified location.", "specifiesCoordinate": true, "friendlyEdit": true, "category": "Basic", "param1": { "label": "Abort Alt:", "units": "meters", "default": 25.0, "decimalPlaces": 3 }, "param4": { "label": "Heading:", "units": "radians", "default": 0.0, "decimalPlaces": 2 }, "param7": { "label": "Altitude:", "units": "meters", "default": 0.0, "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, "category": "Basic", "param1": { "label": "Pitch:", "units": "degrees", "default": 15, "decimalPlaces": 2 }, "param4": { "label": "Heading:", "units": "radians", "default": 0.0, "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": "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:", "units": "meters", "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:", "units": "meters", "default": 10.0, "decimalPlaces": 2 } }, { "id": 80, "rawName": "MAV_CMD_NAV_ROI", "friendlyName": "Region of interest (nav)", "description": "Sets the region of interest for cameras.", "specifiesCoordinate": true, "standaloneCoordinate": true, "friendlyEdit": true, "category": "Camera", "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": 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, "units": "degrees", "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:", "units": "seconds", "default": 0, "decimalPlaces": 0 } }, { "id": 83, "rawName": "MAV_CMD_NAV_ALTITUDE_WAIT", "friendlyName": "MAV_CMD_NAV_ALTITUDE_WAIT" }, { "id": 84, "rawName": "MAV_CMD_NAV_VTOL_TAKEOFF", "friendlyName": "VTOL takeoff", "description": "Takeoff from ground using VTOL mode.", "specifiesCoordinate": true, "friendlyEdit": true, "category": "VTOL", "param4": { "label": "Heading:", "units": "degrees", "default": 0.0, "decimalPlaces": 2 } }, { "id": 85, "rawName": "MAV_CMD_NAV_VTOL_LAND", "friendlyName": "VTOL land", "description": "Land using VTOL mode.", "specifiesCoordinate": true, "friendlyEdit": true, "category": "VTOL", "param4": { "label": "Heading:", "units": "degrees", "default": 0.0, "decimalPlaces": 2 }, "param7": { "label": "Altitude:", "units": "meters", "default": 0.0, "decimalPlaces": 2 } }, { "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, "category": "Basic", "param1": { "label": "Hold:", "units": "seconds", "default": 30, "decimalPlaces": 0 } }, { "id": 113, "rawName": "MAV_CMD_CONDITION_CHANGE_ALT", "description": "Delay the mission until the specified altitide is reached.", "friendlyName": "Wait for altitude", "category": "Conditionals", "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", "category": "Conditionals", "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.", "category": "Conditionals", "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, "category": "Basic", "param1": { "label": "Item #:", "default": 1, "decimalPlaces": 0 }, "param2": { "label": "Repeat:", "default": 0, "decimalPlaces": 0 } }, { "id": 178, "rawName": "MAV_CMD_DO_CHANGE_SPEED", "friendlyName": "Change speed", "description": "Change speed and/or throttle set points.", "category": "Flight control", "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": "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", "default": 0, "decimalPlaces": 0 } }, { "id": 180, "rawName": "MAV_CMD_DO_SET_PARAMETER", "friendlyName": "MAV_CMD_DO_SET_PARAMETER" }, { "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 } }, { "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": "Land start", "description": "Marker to indicate start of landing sequence.", "specifiesCoordinate": true, "standaloneCoordinate": true, "friendlyEdit": true, "category": "Basic" }, { "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.", "specifiesCoordinate": true, "standaloneCoordinate": true, "friendlyEdit": true, "category": "Camera", "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.", "category": "Camera", "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.", "category": "Camera", "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.", "category": "Camera", "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.", "category": "Camera", "param1": { "label": "Distance:", "default": 25, "units": "meters", "decimalPlaces": 2 } }, { "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 } }, { "id": 209, "rawName": "MAV_CMD_DO_MOTOR_TEST", "friendlyName": "MAV_CMD_DO_MOTOR_TEST" }, { "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", "default": 0, "decimalPlaces": 0 } }, { "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", "default": 0, "decimalPlaces": 0 } }, { "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": "Guided 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:", "units": "m(AMSL)", "default": 100, "decimalPlaces": 2 }, "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": "VTOL", "param1": { "label": "Mode:", "default": 3, "decimalPlaces": 0, "enumStrings": "Hover Mode,Plane Mode", "enumValues": "3,4" } }, { "id": 30001, "rawName": "MAV_CMD_PAYLOAD_PREPARE_DEPLOY", "friendlyName": "MAV_CMD_PAYLOAD_PREPARE_DEPLOY" }, { "id": 30002, "rawName": "MAV_CMD_PAYLOAD_CONTROL_DEPLOY", "friendlyName": "MAV_CMD_PAYLOAD_CONTROL_DEPLOY" } ] }