Dialect: storm32

Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

This topic is a human-readable form of the XML definition file: storm32.xml.

Note

• MAVLink 2 extension fields are displayed in blue.
• Entities from dialects are displayed only as headings (with link to original)

Protocol dialect: 1

Protocol version: 1

MAVLink Include Files

• ardupilotmega.xml

목차

Type	Defined	Included
Messages	8	315
Enums	8	205
Commands	200	0

The following sections list all entities in the dialect (both included and defined in this file).

Messages

STORM32_GIMBAL_MANAGER_INFORMATION (60010)

Information about a gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE. It mirrors some fields of the GIMBAL_DEVICE_INFORMATION message, but not all. If the additional information is desired, also GIMBAL_DEVICE_INFORMATION should be requested.

Field Name	Type	Units	Values	Description
gimbal_id	uint8_t			Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for. Messages with same value are from the same source (instance).
device_cap_flags	uint32_t		GIMBAL_DEVICE_CAP_FLAGS	Gimbal device capability flags. Same flags as reported by GIMBAL_DEVICE_INFORMATION. The flag is only 16 bit wide, but stored in 32 bit, for backwards compatibility (high word is zero).
manager_cap_flags	uint32_t		MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS	Gimbal manager capability flags.
roll_min	float	rad	invalid:NaN	Hardware minimum roll angle (positive: roll to the right). NaN if unknown.
roll_max	float	rad	invalid:NaN	Hardware maximum roll angle (positive: roll to the right). NaN if unknown.
pitch_min	float	rad	invalid:NaN	Hardware minimum pitch/tilt angle (positive: tilt up). NaN if unknown.
pitch_max	float	rad	invalid:NaN	Hardware maximum pitch/tilt angle (positive: tilt up). NaN if unknown.
yaw_min	float	rad	invalid:NaN	Hardware minimum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown.
yaw_max	float	rad	invalid:NaN	Hardware maximum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown.

STORM32_GIMBAL_MANAGER_STATUS (60011)

Message reporting the current status of a gimbal manager. This message should be broadcast at a low regular rate (e.g. 1 Hz, may be increase momentarily to e.g. 5 Hz for a period of 1 sec after a change).

Field Name	Type	Values	Description
gimbal_id	uint8_t		Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for. Messages with same value are from the same source (instance).
supervisor	uint8_t	MAV_STORM32_GIMBAL_MANAGER_CLIENT	Client who is currently supervisor (0 = none).
device_flags	uint16_t	GIMBAL_DEVICE_FLAGS	Gimbal device flags currently applied. Same flags as reported by GIMBAL_DEVICE_ATTITUDE_STATUS.
manager_flags	uint16_t	MAV_STORM32_GIMBAL_MANAGER_FLAGS	Gimbal manager flags currently applied.
profile	uint8_t	MAV_STORM32_GIMBAL_MANAGER_PROFILE	Profile currently applied (0 = default).

STORM32_GIMBAL_MANAGER_CONTROL (60012)

Message to a gimbal manager to control the gimbal attitude. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message.

Field Name	Type	Units	Values	Description
target_system	uint8_t			System ID
target_component	uint8_t			Component ID
gimbal_id	uint8_t			Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals. Messages with same value are from the same source (instance).
client	uint8_t		MAV_STORM32_GIMBAL_MANAGER_CLIENT	Client which is contacting the gimbal manager (must be set).
device_flags	uint16_t		invalid:UINT16_MAX GIMBAL_DEVICE_FLAGS	Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in GIMBAL_DEVICE_SET_ATTITUDE.
manager_flags	uint16_t		invalid:0 MAV_STORM32_GIMBAL_MANAGER_FLAGS	Gimbal manager flags to be applied (0 to be ignored).
q	float[4]		invalid:[NaN:]	Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). Set first element to NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.
angular_velocity_x	float	rad/s	invalid:NaN	X component of angular velocity (positive: roll to the right). NaN to be ignored.
angular_velocity_y	float	rad/s	invalid:NaN	Y component of angular velocity (positive: tilt up). NaN to be ignored.
angular_velocity_z	float	rad/s	invalid:NaN	Z component of angular velocity (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.

STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW (60013)

Message to a gimbal manager to control the gimbal tilt and pan angles. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message.

Field Name	Type	Units	Values	Description
target_system	uint8_t			System ID
target_component	uint8_t			Component ID
gimbal_id	uint8_t			Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals. Messages with same value are from the same source (instance).
client	uint8_t		MAV_STORM32_GIMBAL_MANAGER_CLIENT	Client which is contacting the gimbal manager (must be set).
device_flags	uint16_t		invalid:UINT16_MAX GIMBAL_DEVICE_FLAGS	Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in GIMBAL_DEVICE_SET_ATTITUDE.
manager_flags	uint16_t		invalid:0 MAV_STORM32_GIMBAL_MANAGER_FLAGS	Gimbal manager flags to be applied (0 to be ignored).
pitch	float	rad	invalid:NaN	Pitch/tilt angle (positive: tilt up). NaN to be ignored.
yaw	float	rad	invalid:NaN	Yaw/pan angle (positive: pan the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.
pitch_rate	float	rad/s	invalid:NaN	Pitch/tilt angular rate (positive: tilt up). NaN to be ignored.
yaw_rate	float	rad/s	invalid:NaN	Yaw/pan angular rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.

STORM32_GIMBAL_MANAGER_CORRECT_ROLL (60014)

Message to a gimbal manager to correct the gimbal roll angle. This message is typically used to manually correct for a tilted horizon in operation. A gimbal device is never to react to this message.

Field Name	Type	Units	Values	Description
target_system	uint8_t			System ID
target_component	uint8_t			Component ID
gimbal_id	uint8_t			Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals. Messages with same value are from the same source (instance).
client	uint8_t		MAV_STORM32_GIMBAL_MANAGER_CLIENT	Client which is contacting the gimbal manager (must be set).
roll	float	rad		Roll angle (positive to roll to the right).

QSHOT_STATUS (60020) — [WIP]

WORK IN PROGRESS: Do not use in stable production environments (it may change).

Information about the shot operation.

Field Name	Type	Values	Description
mode	uint16_t	MAV_QSHOT_MODE	Current shot mode.
shot_state	uint16_t		Current state in the shot. States are specific to the selected shot mode.

FRSKY_PASSTHROUGH_ARRAY (60040)

Frsky SPort passthrough multi packet container.

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
count	uint8_t		Number of passthrough packets in this message.
packet_buf	uint8_t[240]		Passthrough packet buffer. A packet has 6 bytes: uint16_t id + uint32_t data. The array has space for 40 packets.

PARAM_VALUE_ARRAY (60041)

Parameter multi param value container.

Field Name	Type	Description
param_count	uint16_t	Total number of onboard parameters.
param_index_first	uint16_t	Index of the first onboard parameter in this array.
param_array_len	uint8_t	Number of onboard parameters in this array.
flags	uint16_t	Flags.
packet_buf	uint8_t[248]	Parameters buffer. Contains a series of variable length parameter blocks, one per parameter, with format as specifed elsewhere.

Enumerated Types

MAV_STORM32_TUNNEL_PAYLOAD_TYPE

Value	Name	Description
200	MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_IN	Registered for STorM32 gimbal controller. For communication with gimbal or camera.
201	MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_OUT	Registered for STorM32 gimbal controller. For communication with gimbal or camera.
202	MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_IN	Registered for STorM32 gimbal controller. For communication with gimbal.
203	MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_OUT	Registered for STorM32 gimbal controller. For communication with gimbal.
204	MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_IN	Registered for STorM32 gimbal controller. For communication with camera.
205	MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUT	Registered for STorM32 gimbal controller. For communication with camera.

MAV_STORM32_GIMBAL_PREARM_FLAGS

(Bitmask) STorM32 gimbal prearm check flags.

Value	Name	Description
1	MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMAL	STorM32 gimbal is in normal state.
2	MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKING	The IMUs are healthy and working normally.
4	MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKING	The motors are active and working normally.
8	MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKING	The encoders are healthy and working normally.
16	MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OK	A battery voltage is applied and is in range.
32	MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVING	Virtual input channels are receiving data.
64	MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVING	Mavlink messages are being received.
128	MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_QFIX	The STorM32Link data indicates QFix.
256	MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_WORKING	The STorM32Link is working.
512	MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTED	The camera has been found and is connected.
1024	MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOW	The signal on the AUX0 input pin is low.
2048	MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOW	The signal on the AUX1 input pin is low.
4096	MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKING	The NTLogger is working normally.

MAV_STORM32_CAMERA_PREARM_FLAGS

(Bitmask) STorM32 camera prearm check flags.

Value	Name	Description
1	MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTED	The camera has been found and is connected.

MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS

(Bitmask) Gimbal manager capability flags.

Value	Name	Description
1	MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_HAS_PROFILES	The gimbal manager supports several profiles.

MAV_STORM32_GIMBAL_MANAGER_FLAGS

(Bitmask) Flags for gimbal manager operation. Used for setting and reporting, unless specified otherwise. If a setting has been accepted by the gimbal manager is reported in the STORM32_GIMBAL_MANAGER_STATUS message.

Value	Name	Description
0	MAV_STORM32_GIMBAL_MANAGER_FLAGS_NONE	0 = ignore.
1	MAV_STORM32_GIMBAL_MANAGER_FLAGS_RC_ACTIVE	Request to set RC input to active, or report RC input is active. Implies RC mixed. RC exclusive is achieved by setting all clients to inactive.
2	MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_ONBOARD_ACTIVE	Request to set onboard/companion computer client to active, or report this client is active.
4	MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_AUTOPILOT_ACTIVE	Request to set autopliot client to active, or report this client is active.
8	MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS_ACTIVE	Request to set GCS client to active, or report this client is active.
16	MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA_ACTIVE	Request to set camera client to active, or report this client is active.
32	MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS2_ACTIVE	Request to set GCS2 client to active, or report this client is active.
64	MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA2_ACTIVE	Request to set camera2 client to active, or report this client is active.
128	MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM_ACTIVE	Request to set custom client to active, or report this client is active.
256	MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM2_ACTIVE	Request to set custom2 client to active, or report this client is active.
512	MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_SUPERVISON	Request supervision. This flag is only for setting, it is not reported.
1024	MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_RELEASE	Release supervision. This flag is only for setting, it is not reported.

MAV_STORM32_GIMBAL_MANAGER_CLIENT

Gimbal manager client ID. In a prioritizing profile, the priorities are determined by the implementation; they could e.g. be custom1 > onboard > GCS > autopilot/camera > GCS2 > custom2.

Value	Name	Description
0	MAV_STORM32_GIMBAL_MANAGER_CLIENT_NONE	For convenience.
1	MAV_STORM32_GIMBAL_MANAGER_CLIENT_ONBOARD	This is the onboard/companion computer client.
2	MAV_STORM32_GIMBAL_MANAGER_CLIENT_AUTOPILOT	This is the autopilot client.
3	MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS	This is the GCS client.
4	MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA	This is the camera client.
5	MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS2	This is the GCS2 client.
6	MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA2	This is the camera2 client.
7	MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM	This is the custom client.
8	MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM2	This is the custom2 client.

MAV_STORM32_GIMBAL_MANAGER_PROFILE

Gimbal manager profiles. Only standard profiles are defined. Any implementation can define its own profile(s) in addition, and should use enum values > 16.

Value	Name	Description
0	MAV_STORM32_GIMBAL_MANAGER_PROFILE_DEFAULT	Default profile. Implementation specific.
1	MAV_STORM32_GIMBAL_MANAGER_PROFILE_CUSTOM	Not supported/deprecated.
2	MAV_STORM32_GIMBAL_MANAGER_PROFILE_COOPERATIVE	Profile with cooperative behavior.
3	MAV_STORM32_GIMBAL_MANAGER_PROFILE_EXCLUSIVE	Profile with exclusive behavior.
4	MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_COOPERATIVE	Profile with priority and cooperative behavior for equal priority.
5	MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_EXCLUSIVE	Profile with priority and exclusive behavior for equal priority.

MAV_QSHOT_MODE

Enumeration of possible shot modes.

Value	Name	Description
0	MAV_QSHOT_MODE_UNDEFINED	Undefined shot mode. Can be used to determine if qshots should be used or not.
1	MAV_QSHOT_MODE_DEFAULT	Start normal gimbal operation. Is usually used to return back from a shot.
2	MAV_QSHOT_MODE_GIMBAL_RETRACT	Load and keep safe gimbal position and stop stabilization.
3	MAV_QSHOT_MODE_GIMBAL_NEUTRAL	Load neutral gimbal position and keep it while stabilizing.
4	MAV_QSHOT_MODE_GIMBAL_MISSION	Start mission with gimbal control.
5	MAV_QSHOT_MODE_GIMBAL_RC_CONTROL	Start RC gimbal control.
6	MAV_QSHOT_MODE_POI_TARGETING	Start gimbal tracking the point specified by Lat, Lon, Alt.
7	MAV_QSHOT_MODE_SYSID_TARGETING	Start gimbal tracking the system with specified system ID.
8	MAV_QSHOT_MODE_CABLECAM_2POINT	Start 2-point cable cam quick shot.
9	MAV_QSHOT_MODE_HOME_TARGETING	Start gimbal tracking the home location.

Commands (MAV_CMD)

MAV_CMD_STORM32_DO_GIMBAL_MANAGER_CONTROL_PITCHYAW (60002)

Command to a gimbal manager to control the gimbal tilt and pan angles. It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. A gimbal device is never to react to this command.

Param (Label)	Description	Values	Units
1 (Pitch angle)	Pitch/tilt angle (positive: tilt up). NaN to be ignored.	min: -180 max: 180	deg
2 (Yaw angle)	Yaw/pan angle (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.	min: -180 max: 180	deg
3 (Pitch rate)	Pitch/tilt rate (positive: tilt up). NaN to be ignored.		deg/s
4 (Yaw rate)	Yaw/pan rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.		deg/s
5 (Gimbal device flags)	Gimbal device flags to be applied.	GIMBAL_DEVICE_FLAGS
6 (Gimbal manager flags)	Gimbal manager flags to be applied.	MAV_STORM32_GIMBAL_MANAGER_FLAGS
7 (Gimbal ID and client)	Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals. The client is copied into bits 8-15.

MAV_CMD_STORM32_DO_GIMBAL_MANAGER_SETUP (60010) — [WIP]

WORK IN PROGRESS: Do not use in stable production environments (it may change).

Command to configure a gimbal manager. A gimbal device is never to react to this command. The selected profile is reported in the STORM32_GIMBAL_MANAGER_STATUS message.

Param (Label)	Description	Values
1 (Profile)	Gimbal manager profile (0 = default).	MAV_STORM32_GIMBAL_MANAGER_PROFILE
7 (Gimbal ID)	Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.

MAV_CMD_QSHOT_DO_CONFIGURE (60020) — [WIP]

WORK IN PROGRESS: Do not use in stable production environments (it may change).

Command to set the shot manager mode.

Param (Label)	Description	Values
1 (Mode)	Set shot mode.	MAV_QSHOT_MODE
2 (Shot state or command)	Set shot state or command. The allowed values are specific to the selected shot mode.