From 836cf086b7f089198e7971de7791c196c4435b9b Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 20 Mar 2025 11:07:45 +1100 Subject: [PATCH 1/8] VehicleCommand.msg - takeoff & global position --- msg/versioned/VehicleCommand.msg | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/msg/versioned/VehicleCommand.msg b/msg/versioned/VehicleCommand.msg index 96162e9f89f9..906941946563 100644 --- a/msg/versioned/VehicleCommand.msg +++ b/msg/versioned/VehicleCommand.msg @@ -14,7 +14,7 @@ uint16 VEHICLE_CMD_NAV_LOITER_TURNS = 18 # Loiter around this MISSION for X tur uint16 VEHICLE_CMD_NAV_LOITER_TIME = 19 # Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| uint16 VEHICLE_CMD_NAV_LAND = 21 # Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| -uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| +uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor (deg)| Empty| Empty| Yaw angle (deg, NED), ignored without magnetometer| Latitude (WGS-84)| Longitude (WGS-84)| Altitude (metres above Home| uint16 VEHICLE_CMD_NAV_PRECLAND = 23 # Attempt a precision landing uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circle defined by the parameters. |Radius [m] |Velocity [m/s] |Yaw behaviour |Empty |Latitude/X |Longitude/Y |Altitude/Z | uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |Major Radius [m] |Minor Radius [m] |Velocity [m/s] |Orientation |Latitude/X |Longitude/Y |Altitude/Z | @@ -109,7 +109,7 @@ uint16 VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE = 43004 # PX4 vehicle commands (beyond 16 bit mavlink commands) uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # start of PX4 internal only vehicle commands (> UINT16_MAX) -uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude| +uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude (WGS-84)|Longitude (WGS-84)|Altitude (AMSL from GNSS)| uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Empty|Empty|Empty|Empty|Empty|Empty| uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization | From d426037c9927a83c91a64198ec999f3adddab4d4 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 20 Mar 2025 11:16:26 +1100 Subject: [PATCH 2/8] Apply suggestions from code review --- msg/versioned/VehicleCommand.msg | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/msg/versioned/VehicleCommand.msg b/msg/versioned/VehicleCommand.msg index 906941946563..4c0747cafe7f 100644 --- a/msg/versioned/VehicleCommand.msg +++ b/msg/versioned/VehicleCommand.msg @@ -14,7 +14,7 @@ uint16 VEHICLE_CMD_NAV_LOITER_TURNS = 18 # Loiter around this MISSION for X tur uint16 VEHICLE_CMD_NAV_LOITER_TIME = 19 # Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| uint16 VEHICLE_CMD_NAV_LAND = 21 # Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| -uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor (deg)| Empty| Empty| Yaw angle (deg, NED), ignored without magnetometer| Latitude (WGS-84)| Longitude (WGS-84)| Altitude (metres above Home| +uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor (deg)| Empty| Empty| Yaw angle (deg, NED) if yaw source available, ignored otherwise| Latitude (WGS-84)| Longitude (WGS-84)| Altitude (metres above Home| uint16 VEHICLE_CMD_NAV_PRECLAND = 23 # Attempt a precision landing uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circle defined by the parameters. |Radius [m] |Velocity [m/s] |Yaw behaviour |Empty |Latitude/X |Longitude/Y |Altitude/Z | uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |Major Radius [m] |Minor Radius [m] |Velocity [m/s] |Orientation |Latitude/X |Longitude/Y |Altitude/Z | @@ -109,7 +109,7 @@ uint16 VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE = 43004 # PX4 vehicle commands (beyond 16 bit mavlink commands) uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # start of PX4 internal only vehicle commands (> UINT16_MAX) -uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude (WGS-84)|Longitude (WGS-84)|Altitude (AMSL from GNSS)| +uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude (WGS-84)|Longitude (WGS-84)|Altitude (AMSL from GNSS, positive above ground)| uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Empty|Empty|Empty|Empty|Empty|Empty| uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization | From 24af5cdce71822c5543a66679ab3dc5b115aa9af Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 20 Mar 2025 11:17:08 +1100 Subject: [PATCH 3/8] Update msg/versioned/VehicleCommand.msg --- msg/versioned/VehicleCommand.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/msg/versioned/VehicleCommand.msg b/msg/versioned/VehicleCommand.msg index 4c0747cafe7f..6283c22cfd11 100644 --- a/msg/versioned/VehicleCommand.msg +++ b/msg/versioned/VehicleCommand.msg @@ -14,7 +14,7 @@ uint16 VEHICLE_CMD_NAV_LOITER_TURNS = 18 # Loiter around this MISSION for X tur uint16 VEHICLE_CMD_NAV_LOITER_TIME = 19 # Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| uint16 VEHICLE_CMD_NAV_LAND = 21 # Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| -uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor (deg)| Empty| Empty| Yaw angle (deg, NED) if yaw source available, ignored otherwise| Latitude (WGS-84)| Longitude (WGS-84)| Altitude (metres above Home| +uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor (deg)| Empty| Empty| Yaw angle (deg, NED) if yaw source available, ignored otherwise| Latitude (WGS-84)| Longitude (WGS-84)| Altitude (metres above Home)| uint16 VEHICLE_CMD_NAV_PRECLAND = 23 # Attempt a precision landing uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circle defined by the parameters. |Radius [m] |Velocity [m/s] |Yaw behaviour |Empty |Latitude/X |Longitude/Y |Altitude/Z | uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |Major Radius [m] |Minor Radius [m] |Velocity [m/s] |Orientation |Latitude/X |Longitude/Y |Altitude/Z | From 26aa13be8ecad2bfc88a10ed5f966aab65913772 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 3 Apr 2025 15:29:31 +1100 Subject: [PATCH 4/8] Update msg/versioned/VehicleCommand.msg --- msg/versioned/VehicleCommand.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/msg/versioned/VehicleCommand.msg b/msg/versioned/VehicleCommand.msg index 6283c22cfd11..1e6bcbb1e72f 100644 --- a/msg/versioned/VehicleCommand.msg +++ b/msg/versioned/VehicleCommand.msg @@ -109,7 +109,7 @@ uint16 VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE = 43004 # PX4 vehicle commands (beyond 16 bit mavlink commands) uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # start of PX4 internal only vehicle commands (> UINT16_MAX) -uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude (WGS-84)|Longitude (WGS-84)|Altitude (AMSL from GNSS, positive above ground)| +uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|Altitude [m] (AMSL from GNSS, positive above ground)| uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Empty|Empty|Empty|Empty|Empty|Empty| uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization | From 389aefd05e4483b8ca89fdf5cbbc34d0aa13488e Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 3 Apr 2025 15:31:43 +1100 Subject: [PATCH 5/8] Update msg/versioned/VehicleCommand.msg --- msg/versioned/VehicleCommand.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/msg/versioned/VehicleCommand.msg b/msg/versioned/VehicleCommand.msg index 1e6bcbb1e72f..278d432256a6 100644 --- a/msg/versioned/VehicleCommand.msg +++ b/msg/versioned/VehicleCommand.msg @@ -14,7 +14,7 @@ uint16 VEHICLE_CMD_NAV_LOITER_TURNS = 18 # Loiter around this MISSION for X tur uint16 VEHICLE_CMD_NAV_LOITER_TIME = 19 # Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| uint16 VEHICLE_CMD_NAV_LAND = 21 # Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| -uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor (deg)| Empty| Empty| Yaw angle (deg, NED) if yaw source available, ignored otherwise| Latitude (WGS-84)| Longitude (WGS-84)| Altitude (metres above Home)| +uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand |Unused (FW pitch from FW_TKO_PITCH_MIN) |Unused|Unused|Yaw angle in NED [deg] if yaw source available, ignored otherwise|Latitude (WGS-84)|Longitude (WGS-84)|Altitude AMSL [m]| uint16 VEHICLE_CMD_NAV_PRECLAND = 23 # Attempt a precision landing uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circle defined by the parameters. |Radius [m] |Velocity [m/s] |Yaw behaviour |Empty |Latitude/X |Longitude/Y |Altitude/Z | uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |Major Radius [m] |Minor Radius [m] |Velocity [m/s] |Orientation |Latitude/X |Longitude/Y |Altitude/Z | From ed786006047d21fc35cf9a5006d2dd3d12584962 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 3 Apr 2025 15:59:39 +1100 Subject: [PATCH 6/8] Update msg/versioned/VehicleCommand.msg --- msg/versioned/VehicleCommand.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/msg/versioned/VehicleCommand.msg b/msg/versioned/VehicleCommand.msg index 278d432256a6..e654ea1b5d7a 100644 --- a/msg/versioned/VehicleCommand.msg +++ b/msg/versioned/VehicleCommand.msg @@ -14,7 +14,7 @@ uint16 VEHICLE_CMD_NAV_LOITER_TURNS = 18 # Loiter around this MISSION for X tur uint16 VEHICLE_CMD_NAV_LOITER_TIME = 19 # Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| uint16 VEHICLE_CMD_NAV_LAND = 21 # Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| -uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand |Unused (FW pitch from FW_TKO_PITCH_MIN) |Unused|Unused|Yaw angle in NED [deg] if yaw source available, ignored otherwise|Latitude (WGS-84)|Longitude (WGS-84)|Altitude AMSL [m]| +uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand |Unused (FW pitch from FW_TKO_PITCH_MIN)|Unused|Unused|Yaw angle in NED [deg] if yaw source available, ignored otherwise|Latitude (WGS-84)|Longitude (WGS-84)|Altitude AMSL [m]| uint16 VEHICLE_CMD_NAV_PRECLAND = 23 # Attempt a precision landing uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circle defined by the parameters. |Radius [m] |Velocity [m/s] |Yaw behaviour |Empty |Latitude/X |Longitude/Y |Altitude/Z | uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |Major Radius [m] |Minor Radius [m] |Velocity [m/s] |Orientation |Latitude/X |Longitude/Y |Altitude/Z | From db8e4663d965fc3aea70252c3a315082ee97fa88 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 3 Apr 2025 16:03:03 +1100 Subject: [PATCH 7/8] Update msg/versioned/VehicleCommand.msg --- msg/versioned/VehicleCommand.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/msg/versioned/VehicleCommand.msg b/msg/versioned/VehicleCommand.msg index e654ea1b5d7a..5ab9150e0140 100644 --- a/msg/versioned/VehicleCommand.msg +++ b/msg/versioned/VehicleCommand.msg @@ -109,7 +109,7 @@ uint16 VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE = 43004 # PX4 vehicle commands (beyond 16 bit mavlink commands) uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # start of PX4 internal only vehicle commands (> UINT16_MAX) -uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|Altitude [m] (AMSL from GNSS, positive above ground)| +uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|Altitude [m] (AMSL from GNSS, positive above ground)| uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Empty|Empty|Empty|Empty|Empty|Empty| uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization | From 1b8d1f69afbf2faa2aed3bca16e0febe6c9e1e6d Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Wed, 30 Apr 2025 16:14:47 +1000 Subject: [PATCH 8/8] Update msg/versioned/VehicleCommand.msg --- msg/versioned/VehicleCommand.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/msg/versioned/VehicleCommand.msg b/msg/versioned/VehicleCommand.msg index 5ab9150e0140..bd1e84551ffa 100644 --- a/msg/versioned/VehicleCommand.msg +++ b/msg/versioned/VehicleCommand.msg @@ -14,7 +14,7 @@ uint16 VEHICLE_CMD_NAV_LOITER_TURNS = 18 # Loiter around this MISSION for X tur uint16 VEHICLE_CMD_NAV_LOITER_TIME = 19 # Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| uint16 VEHICLE_CMD_NAV_LAND = 21 # Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| -uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand |Unused (FW pitch from FW_TKO_PITCH_MIN)|Unused|Unused|Yaw angle in NED [deg] if yaw source available, ignored otherwise|Latitude (WGS-84)|Longitude (WGS-84)|Altitude AMSL [m]| +uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand |Unused (FW pitch from FW_TKO_PITCH_MIN)|Unused|Unused|Yaw angle in NED if yaw source available, ignored otherwise [deg] [@range 0,360]|Latitude (WGS-84)|Longitude (WGS-84)|Altitude AMSL [m]| uint16 VEHICLE_CMD_NAV_PRECLAND = 23 # Attempt a precision landing uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circle defined by the parameters. |Radius [m] |Velocity [m/s] |Yaw behaviour |Empty |Latitude/X |Longitude/Y |Altitude/Z | uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |Major Radius [m] |Minor Radius [m] |Velocity [m/s] |Orientation |Latitude/X |Longitude/Y |Altitude/Z |