方言：ASLUAV

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: ASLUAV.xml.

INFO

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

MAVLink Include Files

• common.xml

概览

Type	Defined	Included
Messages	17	226
Enums	2	144
Commands	166	0

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

消息

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	值	描述
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	值	描述
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	描述
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	描述
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	描述
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	度	Pitch angle
PitchAngleRef	float	度	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	度	Yaw angle
YawAngleRef	float	度	Yaw angle reference
RollAngle	float	度	Roll angle
RollAngleRef	float	度	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	描述
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	描述
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	描述
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	描述
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	描述
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	描述
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	描述
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	度	Thermal center latitude
xLon	float	度	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	度	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	描述
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	描述
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	值	描述
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	描述
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	描述
timestamp	uint64_t	us	Timestamp
angleofattack	float	度	Angle of attack
angleofattack_valid	uint8_t		Angle of attack measurement valid
sideslip	float	度	Sideslip angle
sideslip_valid	uint8_t		Sideslip angle measurement valid

Enumerated Types

GSM_LINK_TYPE

值	Name	描述
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

值	Name	描述
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)	描述
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)	描述
1	Complete power cycle
2	VISensor power cycle
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty