方言：ASLUAV

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 is a human-readable form of the XML definition file: ASLUAV.

已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

MAVLink Include Files

common.xml

Summary

Type	Defined	Included
Messages	17	225
Enums	2	143
Commands	166	0

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

Messages

COMMAND_INT_STAMPED (223)

Message encoding a command with parameters as scaled integers and additional metadata. Scaling depends on the actual command value.

Field Name	Type	Values	Description
utc_time	`uint32_t`		UTC time, seconds elapsed since 01.01.1970
vehicle_timestamp	`uint64_t`		Microseconds elapsed since vehicle boot
target_system	`uint8_t`		System ID
target_component	`uint8_t`		Component ID
frame	`uint8_t`	MAV_FRAME	The coordinate system of the COMMAND, as defined by MAV_FRAME enum
command	`uint16_t`	MAV_CMD	The scheduled action for the mission item, as defined by MAV_CMD enum
current	`uint8_t`		false:0, true:1
autocontinue	`uint8_t`		autocontinue to next wp
param1	`float`		PARAM1, see MAV_CMD enum
param2	`float`		PARAM2, see MAV_CMD enum
param3	`float`		PARAM3, see MAV_CMD enum
param4	`float`		PARAM4, see MAV_CMD enum
x	`int32_t`		PARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
y	`int32_t`		PARAM6 / local: y position in meters 1e4, global: longitude in degrees 10^7
z	`float`		PARAM7 / z position: global: altitude in meters (MSL, WGS84, AGL or relative to home - depending on frame).

COMMAND_LONG_STAMPED (224)

Send a command with up to seven parameters to the MAV and additional metadata

Field Name	Type	Values	Description
utc_time	`uint32_t`		UTC time, seconds elapsed since 01.01.1970
vehicle_timestamp	`uint64_t`		Microseconds elapsed since vehicle boot
target_system	`uint8_t`		System which should execute the command
target_component	`uint8_t`		Component which should execute the command, 0 for all components
command	`uint16_t`	MAV_CMD	Command ID, as defined by MAV_CMD enum.
confirmation	`uint8_t`		0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
param1	`float`		Parameter 1, as defined by MAV_CMD enum.
param2	`float`		Parameter 2, as defined by MAV_CMD enum.
param3	`float`		Parameter 3, as defined by MAV_CMD enum.
param4	`float`		Parameter 4, as defined by MAV_CMD enum.
param5	`float`		Parameter 5, as defined by MAV_CMD enum.
param6	`float`		Parameter 6, as defined by MAV_CMD enum.
param7	`float`		Parameter 7, as defined by MAV_CMD enum.

SENS_POWER (8002)

Voltage and current sensor data

Field Name	Type	Units	Description
adc121_vspb_volt	`float`	V	Power board voltage sensor reading
adc121_cspb_amp	`float`	A	Power board current sensor reading
adc121_cs1_amp	`float`	A	Board current sensor 1 reading
adc121_cs2_amp	`float`	A	Board current sensor 2 reading

SENS_MPPT (8003)

Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking

Field Name	Type	Units	Description
mppt_timestamp	`uint64_t`	us	MPPT last timestamp
mppt1_volt	`float`	V	MPPT1 voltage
mppt1_amp	`float`	A	MPPT1 current
mppt1_pwm	`uint16_t`	us	MPPT1 pwm
mppt1_status	`uint8_t`		MPPT1 status
mppt2_volt	`float`	V	MPPT2 voltage
mppt2_amp	`float`	A	MPPT2 current
mppt2_pwm	`uint16_t`	us	MPPT2 pwm
mppt2_status	`uint8_t`		MPPT2 status
mppt3_volt	`float`	V	MPPT3 voltage
mppt3_amp	`float`	A	MPPT3 current
mppt3_pwm	`uint16_t`	us	MPPT3 pwm
mppt3_status	`uint8_t`		MPPT3 status

ASLCTRL_DATA (8004)

ASL-fixed-wing controller data

Field Name	Type	Units	Description
timestamp	`uint64_t`	us	Timestamp
aslctrl_mode	`uint8_t`		ASLCTRL control-mode (manual, stabilized, auto, etc...)
h	`float`		See sourcecode for a description of these values...
hRef	`float`
hRef_t	`float`
PitchAngle	`float`	deg	Pitch angle
PitchAngleRef	`float`	deg	Pitch angle reference
q	`float`
qRef	`float`
uElev	`float`
uThrot	`float`
uThrot2	`float`
nZ	`float`
AirspeedRef	`float`	m/s	Airspeed reference
SpoilersEngaged	`uint8_t`
YawAngle	`float`	deg	Yaw angle
YawAngleRef	`float`	deg	Yaw angle reference
RollAngle	`float`	deg	Roll angle
RollAngleRef	`float`	deg	Roll angle reference
p	`float`
pRef	`float`
r	`float`
rRef	`float`
uAil	`float`
uRud	`float`

ASLCTRL_DEBUG (8005)

ASL-fixed-wing controller debug data

Field Name	Type	Description
i32_1	`uint32_t`	Debug data
i8_1	`uint8_t`	Debug data
i8_2	`uint8_t`	Debug data
f_1	`float`	Debug data
f_2	`float`	Debug data
f_3	`float`	Debug data
f_4	`float`	Debug data
f_5	`float`	Debug data
f_6	`float`	Debug data
f_7	`float`	Debug data
f_8	`float`	Debug data

ASLUAV_STATUS (8006)

Extended state information for ASLUAVs

Field Name	Type	Description
LED_status	`uint8_t`	Status of the position-indicator LEDs
SATCOM_status	`uint8_t`	Status of the IRIDIUM satellite communication system
Servo_status	`uint8_t[8]`	Status vector for up to 8 servos
Motor_rpm	`float`	Motor RPM

EKF_EXT (8007)

Extended EKF state estimates for ASLUAVs

Field Name	Type	Units	Description
timestamp	`uint64_t`	us	Time since system start
Windspeed	`float`	m/s	Magnitude of wind velocity (in lateral inertial plane)
WindDir	`float`	rad	Wind heading angle from North
WindZ	`float`	m/s	Z (Down) component of inertial wind velocity
Airspeed	`float`	m/s	Magnitude of air velocity
beta	`float`	rad	Sideslip angle
alpha	`float`	rad	Angle of attack

ASL_OBCTRL (8008)

Off-board controls/commands for ASLUAVs

Field Name	Type	Units	Description
timestamp	`uint64_t`	us	Time since system start
uElev	`float`		Elevator command [~]
uThrot	`float`		Throttle command [~]
uThrot2	`float`		Throttle 2 command [~]
uAilL	`float`		Left aileron command [~]
uAilR	`float`		Right aileron command [~]
uRud	`float`		Rudder command [~]
obctrl_status	`uint8_t`		Off-board computer status

SENS_ATMOS (8009)

Atmospheric sensors (temperature, humidity, ...)

Field Name	Type	Units	Description
timestamp	`uint64_t`	us	Time since system boot
TempAmbient	`float`	degC	Ambient temperature
Humidity	`float`	%	Relative humidity

SENS_BATMON (8010)

Battery pack monitoring data for Li-Ion batteries

Field Name	Type	Units	Description
batmon_timestamp	`uint64_t`	us	Time since system start
temperature	`float`	degC	Battery pack temperature
voltage	`uint16_t`	mV	Battery pack voltage
current	`int16_t`	mA	Battery pack current
SoC	`uint8_t`		Battery pack state-of-charge
batterystatus	`uint16_t`		Battery monitor status report bits in Hex
serialnumber	`uint16_t`		Battery monitor serial number in Hex
safetystatus	`uint32_t`		Battery monitor safetystatus report bits in Hex
operationstatus	`uint32_t`		Battery monitor operation status report bits in Hex
cellvoltage1	`uint16_t`	mV	Battery pack cell 1 voltage
cellvoltage2	`uint16_t`	mV	Battery pack cell 2 voltage
cellvoltage3	`uint16_t`	mV	Battery pack cell 3 voltage
cellvoltage4	`uint16_t`	mV	Battery pack cell 4 voltage
cellvoltage5	`uint16_t`	mV	Battery pack cell 5 voltage
cellvoltage6	`uint16_t`	mV	Battery pack cell 6 voltage

FW_SOARING_DATA (8011)

Fixed-wing soaring (i.e. thermal seeking) data

Field Name	Type	Units	Description
timestamp	`uint64_t`	ms	Timestamp
timestampModeChanged	`uint64_t`	ms	Timestamp since last mode change
xW	`float`	m/s	Thermal core updraft strength
xR	`float`	m	Thermal radius
xLat	`float`	deg	Thermal center latitude
xLon	`float`	deg	Thermal center longitude
VarW	`float`		Variance W
VarR	`float`		Variance R
VarLat	`float`		Variance Lat
VarLon	`float`		Variance Lon
LoiterRadius	`float`	m	Suggested loiter radius
LoiterDirection	`float`		Suggested loiter direction
DistToSoarPoint	`float`	m	Distance to soar point
vSinkExp	`float`	m/s	Expected sink rate at current airspeed, roll and throttle
z1_LocalUpdraftSpeed	`float`	m/s	Measurement / updraft speed at current/local airplane position
z2_DeltaRoll	`float`	deg	Measurement / roll angle tracking error
z1_exp	`float`		Expected measurement 1
z2_exp	`float`		Expected measurement 2
ThermalGSNorth	`float`	m/s	Thermal drift (from estimator prediction step only)
ThermalGSEast	`float`	m/s	Thermal drift (from estimator prediction step only)
TSE_dot	`float`	m/s	Total specific energy change (filtered)
DebugVar1	`float`		Debug variable 1
DebugVar2	`float`		Debug variable 2
ControlMode	`uint8_t`		Control Mode [-]
valid	`uint8_t`		Data valid [-]

SENSORPOD_STATUS (8012)

Monitoring of sensorpod status

Field Name	Type	Units	Description
timestamp	`uint64_t`	ms	Timestamp in linuxtime (since 1.1.1970)
visensor_rate_1	`uint8_t`		Rate of ROS topic 1
visensor_rate_2	`uint8_t`		Rate of ROS topic 2
visensor_rate_3	`uint8_t`		Rate of ROS topic 3
visensor_rate_4	`uint8_t`		Rate of ROS topic 4
recording_nodes_count	`uint8_t`		Number of recording nodes
cpu_temp	`uint8_t`	degC	Temperature of sensorpod CPU in
free_space	`uint16_t`		Free space available in recordings directory in [Gb] * 1e2

SENS_POWER_BOARD (8013)

Monitoring of power board status

Field Name	Type	Units	Description
timestamp	`uint64_t`	us	Timestamp
pwr_brd_status	`uint8_t`		Power board status register
pwr_brd_led_status	`uint8_t`		Power board leds status
pwr_brd_system_volt	`float`	V	Power board system voltage
pwr_brd_servo_volt	`float`	V	Power board servo voltage
pwr_brd_digital_volt	`float`	V	Power board digital voltage
pwr_brd_mot_l_amp	`float`	A	Power board left motor current sensor
pwr_brd_mot_r_amp	`float`	A	Power board right motor current sensor
pwr_brd_analog_amp	`float`	A	Power board analog current sensor
pwr_brd_digital_amp	`float`	A	Power board digital current sensor
pwr_brd_ext_amp	`float`	A	Power board extension current sensor
pwr_brd_aux_amp	`float`	A	Power board aux current sensor

GSM_LINK_STATUS (8014)

Status of GSM modem (connected to onboard computer)

Field Name	Type	Units	Values	Description
timestamp	`uint64_t`	us		Timestamp (of OBC)
gsm_modem_type	`uint8_t`		GSM_MODEM_TYPE	GSM modem used
gsm_link_type	`uint8_t`		GSM_LINK_TYPE	GSM link type
rssi	`uint8_t`			RSSI as reported by modem (unconverted)
rsrp_rscp	`uint8_t`			RSRP (LTE) or RSCP (WCDMA) as reported by modem (unconverted)
sinr_ecio	`uint8_t`			SINR (LTE) or ECIO (WCDMA) as reported by modem (unconverted)
rsrq	`uint8_t`			RSRQ (LTE only) as reported by modem (unconverted)

SATCOM_LINK_STATUS (8015)

Status of the SatCom link

Field Name	Type	Units	Description
timestamp	`uint64_t`	us	Timestamp
last_heartbeat	`uint64_t`	us	Timestamp of the last successful sbd session
failed_sessions	`uint16_t`		Number of failed sessions
successful_sessions	`uint16_t`		Number of successful sessions
signal_quality	`uint8_t`		Signal quality
ring_pending	`uint8_t`		Ring call pending
tx_session_pending	`uint8_t`		Transmission session pending
rx_session_pending	`uint8_t`		Receiving session pending

SENSOR_AIRFLOW_ANGLES (8016)

Calibrated airflow angle measurements

Field Name	Type	Units	Description
timestamp	`uint64_t`	us	Timestamp
angleofattack	`float`	deg	Angle of attack
angleofattack_valid	`uint8_t`		Angle of attack measurement valid
sideslip	`float`	deg	Sideslip angle
sideslip_valid	`uint8_t`		Sideslip angle measurement valid

Enumerated Types

GSM_LINK_TYPE

Value	Name	Description
0	GSM_LINK_TYPE_NONE	no service
1	GSM_LINK_TYPE_UNKNOWN	link type unknown
2	GSM_LINK_TYPE_2G	2G (GSM/GRPS/EDGE) link
3	GSM_LINK_TYPE_3G	3G link (WCDMA/HSDPA/HSPA)
4	GSM_LINK_TYPE_4G	4G link (LTE)

GSM_MODEM_TYPE

Value	Name	Description
0	GSM_MODEM_TYPE_UNKNOWN	not specified
1	GSM_MODEM_TYPE_HUAWEI_E3372	HUAWEI LTE USB Stick E3372

Commands (MAV_CMD)

MAV_CMD_RESET_MPPT (40001)

Mission command to reset Maximum Power Point Tracker (MPPT)

Param (Label)	Description
1	MPPT number
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_PAYLOAD_CONTROL (40002)

Mission command to perform a power cycle on payload

Param (Label)	Description
1	Complete power cycle
2	VISensor power cycle
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

ASLUAV.xml