Dialect: ualberta
This is a human-readable form of the XML definition file: ualberta.
- MAVLink 2 extension fields are displayed in blue.
- Entities from dialects are displayed only as headings (with link to original)
MAVLink Include Files
Summary
XML entities defined in this file (not included):
Messages: NAV_FILTER_BIAS, RADIO_CALIBRATION, UALBERTA_SYS_STATUS
Enums: UALBERTA_AUTOPILOT_MODE, UALBERTA_NAV_MODE, UALBERTA_PILOT_MODE
Commands: None
The following sections list all entities in the dialect (both included and defined in this file).
Messages
HEARTBEAT (0) — [from: minimal]
SYS_STATUS (1) — [from: common]
SYSTEM_TIME (2) — [from: common]
PING (4) — [from: common] [DEP]
CHANGE_OPERATOR_CONTROL (5) — [from: common]
CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]
AUTH_KEY (7) — [from: common]
LINK_NODE_STATUS (8) — [from: common] [WIP]
SET_MODE (11) — [from: common] [DEP]
PARAM_REQUEST_READ (20) — [from: common]
PARAM_REQUEST_LIST (21) — [from: common]
PARAM_VALUE (22) — [from: common]
PARAM_SET (23) — [from: common]
GPS_RAW_INT (24) — [from: common]
GPS_STATUS (25) — [from: common]
SCALED_IMU (26) — [from: common]
RAW_IMU (27) — [from: common]
RAW_PRESSURE (28) — [from: common]
SCALED_PRESSURE (29) — [from: common]
ATTITUDE (30) — [from: common]
ATTITUDE_QUATERNION (31) — [from: common]
LOCAL_POSITION_NED (32) — [from: common]
GLOBAL_POSITION_INT (33) — [from: common]
RC_CHANNELS_SCALED (34) — [from: common]
RC_CHANNELS_RAW (35) — [from: common]
SERVO_OUTPUT_RAW (36) — [from: common]
MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]
MISSION_WRITE_PARTIAL_LIST (38) — [from: common]
MISSION_ITEM (39) — [from: common] [DEP]
MISSION_REQUEST (40) — [from: common] [DEP]
MISSION_SET_CURRENT (41) — [from: common] [DEP]
MISSION_CURRENT (42) — [from: common]
MISSION_REQUEST_LIST (43) — [from: common]
MISSION_COUNT (44) — [from: common]
MISSION_CLEAR_ALL (45) — [from: common]
MISSION_ITEM_REACHED (46) — [from: common]
MISSION_ACK (47) — [from: common]
SET_GPS_GLOBAL_ORIGIN (48) — [from: common]
GPS_GLOBAL_ORIGIN (49) — [from: common]
PARAM_MAP_RC (50) — [from: common]
MISSION_REQUEST_INT (51) — [from: common]
SAFETY_SET_ALLOWED_AREA (54) — [from: common]
SAFETY_ALLOWED_AREA (55) — [from: common]
ATTITUDE_QUATERNION_COV (61) — [from: common]
NAV_CONTROLLER_OUTPUT (62) — [from: common]
GLOBAL_POSITION_INT_COV (63) — [from: common]
LOCAL_POSITION_NED_COV (64) — [from: common]
RC_CHANNELS (65) — [from: common]
REQUEST_DATA_STREAM (66) — [from: common] [DEP]
DATA_STREAM (67) — [from: common] [DEP]
MANUAL_CONTROL (69) — [from: common]
RC_CHANNELS_OVERRIDE (70) — [from: common]
MISSION_ITEM_INT (73) — [from: common]
VFR_HUD (74) — [from: common]
COMMAND_INT (75) — [from: common]
COMMAND_LONG (76) — [from: common]
COMMAND_ACK (77) — [from: common]
COMMAND_CANCEL (80) — [from: common] [WIP]
MANUAL_SETPOINT (81) — [from: common]
SET_ATTITUDE_TARGET (82) — [from: common]
ATTITUDE_TARGET (83) — [from: common]
SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]
POSITION_TARGET_LOCAL_NED (85) — [from: common]
SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]
POSITION_TARGET_GLOBAL_INT (87) — [from: common]
LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]
HIL_STATE (90) — [from: common] [DEP]
HIL_CONTROLS (91) — [from: common]
HIL_RC_INPUTS_RAW (92) — [from: common]
HIL_ACTUATOR_CONTROLS (93) — [from: common]
OPTICAL_FLOW (100) — [from: common]
GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]
VISION_POSITION_ESTIMATE (102) — [from: common]
VISION_SPEED_ESTIMATE (103) — [from: common]
VICON_POSITION_ESTIMATE (104) — [from: common]
HIGHRES_IMU (105) — [from: common]
OPTICAL_FLOW_RAD (106) — [from: common]
HIL_SENSOR (107) — [from: common]
SIM_STATE (108) — [from: common]
RADIO_STATUS (109) — [from: common]
FILE_TRANSFER_PROTOCOL (110) — [from: common]
TIMESYNC (111) — [from: common]
CAMERA_TRIGGER (112) — [from: common]
HIL_GPS (113) — [from: common]
HIL_OPTICAL_FLOW (114) — [from: common]
HIL_STATE_QUATERNION (115) — [from: common]
SCALED_IMU2 (116) — [from: common]
LOG_REQUEST_LIST (117) — [from: common]
LOG_ENTRY (118) — [from: common]
LOG_REQUEST_DATA (119) — [from: common]
LOG_DATA (120) — [from: common]
LOG_ERASE (121) — [from: common]
LOG_REQUEST_END (122) — [from: common]
GPS_INJECT_DATA (123) — [from: common] [DEP]
GPS2_RAW (124) — [from: common]
POWER_STATUS (125) — [from: common]
SERIAL_CONTROL (126) — [from: common]
GPS_RTK (127) — [from: common]
GPS2_RTK (128) — [from: common]
SCALED_IMU3 (129) — [from: common]
DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]
ENCAPSULATED_DATA (131) — [from: common]
DISTANCE_SENSOR (132) — [from: common]
TERRAIN_REQUEST (133) — [from: common]
TERRAIN_DATA (134) — [from: common]
TERRAIN_CHECK (135) — [from: common]
TERRAIN_REPORT (136) — [from: common]
SCALED_PRESSURE2 (137) — [from: common]
ATT_POS_MOCAP (138) — [from: common]
SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]
ACTUATOR_CONTROL_TARGET (140) — [from: common]
ALTITUDE (141) — [from: common]
RESOURCE_REQUEST (142) — [from: common]
SCALED_PRESSURE3 (143) — [from: common]
FOLLOW_TARGET (144) — [from: common]
CONTROL_SYSTEM_STATE (146) — [from: common]
BATTERY_STATUS (147) — [from: common]
AUTOPILOT_VERSION (148) — [from: common]
LANDING_TARGET (149) — [from: common]
FENCE_STATUS (162) — [from: common]
MAG_CAL_REPORT (192) — [from: common]
NAV_FILTER_BIAS (220)
Accelerometer and Gyro biases from the navigation filter
Field Name | Type | Description |
---|---|---|
usec | uint64_t | Timestamp (microseconds) |
accel_0 | float | b_f[0] |
accel_1 | float | b_f[1] |
accel_2 | float | b_f[2] |
gyro_0 | float | b_f[0] |
gyro_1 | float | b_f[1] |
gyro_2 | float | b_f[2] |
RADIO_CALIBRATION (221)
Complete set of calibration parameters for the radio
Field Name | Type | Description |
---|---|---|
aileron | uint16_t[3] | Aileron setpoints: left, center, right |
elevator | uint16_t[3] | Elevator setpoints: nose down, center, nose up |
rudder | uint16_t[3] | Rudder setpoints: nose left, center, nose right |
gyro | uint16_t[2] | Tail gyro mode/gain setpoints: heading hold, rate mode |
pitch | uint16_t[5] | Pitch curve setpoints (every 25%) |
throttle | uint16_t[5] | Throttle curve setpoints (every 25%) |
UALBERTA_SYS_STATUS (222)
System status specific to ualberta uav
Field Name | Type | Description |
---|---|---|
mode | uint8_t | System mode, see UALBERTA_AUTOPILOT_MODE ENUM |
nav_mode | uint8_t | Navigation mode, see UALBERTA_NAV_MODE ENUM |
pilot | uint8_t | Pilot mode, see UALBERTA_PILOT_MODE |
EFI_STATUS (225) — [from: common]
ESTIMATOR_STATUS (230) — [from: common]
WIND_COV (231) — [from: common]
GPS_INPUT (232) — [from: common]
GPS_RTCM_DATA (233) — [from: common]
HIGH_LATENCY (234) — [from: common] [DEP]
HIGH_LATENCY2 (235) — [from: common]
VIBRATION (241) — [from: common]
HOME_POSITION (242) — [from: common]
SET_HOME_POSITION (243) — [from: common] [DEP]
MESSAGE_INTERVAL (244) — [from: common]
EXTENDED_SYS_STATE (245) — [from: common]
ADSB_VEHICLE (246) — [from: common]
COLLISION (247) — [from: common]
V2_EXTENSION (248) — [from: common]
MEMORY_VECT (249) — [from: common]
DEBUG_VECT (250) — [from: common]
NAMED_VALUE_FLOAT (251) — [from: common]
NAMED_VALUE_INT (252) — [from: common]
STATUSTEXT (253) — [from: common]
DEBUG (254) — [from: common]
SETUP_SIGNING (256) — [from: common]
BUTTON_CHANGE (257) — [from: common]
PLAY_TUNE (258) — [from: common] [DEP]
CAMERA_INFORMATION (259) — [from: common]
CAMERA_SETTINGS (260) — [from: common]
STORAGE_INFORMATION (261) — [from: common]
CAMERA_CAPTURE_STATUS (262) — [from: common]
CAMERA_IMAGE_CAPTURED (263) — [from: common]
FLIGHT_INFORMATION (264) — [from: common]
MOUNT_ORIENTATION (265) — [from: common] [DEP]
LOGGING_DATA (266) — [from: common]
LOGGING_DATA_ACKED (267) — [from: common]
LOGGING_ACK (268) — [from: common]
VIDEO_STREAM_INFORMATION (269) — [from: common]
VIDEO_STREAM_STATUS (270) — [from: common]
CAMERA_FOV_STATUS (271) — [from: common]
CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]
CAMERA_TRACKING_GEO_STATUS (276) — [from: common]
GIMBAL_MANAGER_INFORMATION (280) — [from: common]
GIMBAL_MANAGER_STATUS (281) — [from: common]
GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]
GIMBAL_DEVICE_INFORMATION (283) — [from: common]
GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]
GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]
AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]
GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]
GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]
ESC_INFO (290) — [from: common] [WIP]
ESC_STATUS (291) — [from: common] [WIP]
WIFI_CONFIG_AP (299) — [from: common]
PROTOCOL_VERSION (300) — [from: minimal] [WIP]
AIS_VESSEL (301) — [from: common]
UAVCAN_NODE_STATUS (310) — [from: common]
UAVCAN_NODE_INFO (311) — [from: common]
PARAM_EXT_REQUEST_READ (320) — [from: common]
PARAM_EXT_REQUEST_LIST (321) — [from: common]
PARAM_EXT_VALUE (322) — [from: common]
PARAM_EXT_SET (323) — [from: common]
PARAM_EXT_ACK (324) — [from: common]
OBSTACLE_DISTANCE (330) — [from: common]
ODOMETRY (331) — [from: common]
TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]
TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]
CELLULAR_STATUS (334) — [from: common]
ISBD_LINK_STATUS (335) — [from: common]
CELLULAR_CONFIG (336) — [from: common]
RAW_RPM (339) — [from: common]
UTM_GLOBAL_POSITION (340) — [from: common]
DEBUG_FLOAT_ARRAY (350) — [from: common]
ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]
BATTERY_INFO (370) — [from: common] [WIP]
GENERATOR_STATUS (373) — [from: common]
ACTUATOR_OUTPUT_STATUS (375) — [from: common]
TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]
TUNNEL (385) — [from: common]
CAN_FRAME (386) — [from: common]
CANFD_FRAME (387) — [from: common]
CAN_FILTER_MODIFY (388) — [from: common]
ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]
COMPONENT_INFORMATION (395) — [from: common] [DEP]
COMPONENT_INFORMATION_BASIC (396) — [from: common]
COMPONENT_METADATA (397) — [from: common] [WIP]
PLAY_TUNE_V2 (400) — [from: common]
SUPPORTED_TUNES (401) — [from: common]
EVENT (410) — [from: common] [WIP]
CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]
REQUEST_EVENT (412) — [from: common] [WIP]
RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]
ILLUMINATOR_STATUS (440) — [from: common]
WHEEL_DISTANCE (9000) — [from: common]
WINCH_STATUS (9005) — [from: common]
OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]
OPEN_DRONE_ID_LOCATION (12901) — [from: common]
OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]
OPEN_DRONE_ID_SELF_ID (12903) — [from: common]
OPEN_DRONE_ID_SYSTEM (12904) — [from: common]
OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]
OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]
OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]
OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]
HYGROMETER_SENSOR (12920) — [from: common]
Enumerated Types
UALBERTA_AUTOPILOT_MODE
Available autopilot modes for ualberta uav
Value | Name | Description |
---|---|---|
1 | MODE_MANUAL_DIRECT | Raw input pulse widts sent to output |
2 | MODE_MANUAL_SCALED | Inputs are normalized using calibration, the converted back to raw pulse widths for output |
3 | MODE_AUTO_PID_ATT | |
4 | MODE_AUTO_PID_VEL | |
5 | MODE_AUTO_PID_POS |
UALBERTA_NAV_MODE
Navigation filter mode
Value | Name | Description |
---|---|---|
1 | NAV_AHRS_INIT | |
2 | NAV_AHRS | AHRS mode |
3 | NAV_INS_GPS_INIT | INS/GPS initialization mode |
4 | NAV_INS_GPS | INS/GPS mode |
UALBERTA_PILOT_MODE
Mode currently commanded by pilot
Value | Name | Description |
---|---|---|
1 | PILOT_MANUAL | |
2 | PILOT_AUTO | |
3 | PILOT_ROTO | Rotomotion mode |