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Index ¶
Constants ¶
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const ( PROTOCOL_NAME = "minimal" PROTOCOL_VERSION = 2 )
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const ( MAV_AUTOPILOT_GENERIC = 0 // Generic autopilot, full support for everything MAV_AUTOPILOT_PIXHAWK = 1 // PIXHAWK autopilot, http://pixhawk.ethz.ch MAV_AUTOPILOT_SLUGS = 2 // SLUGS autopilot, http://slugsuav.soe.ucsc.edu MAV_AUTOPILOT_ARDUPILOTMEGA = 3 // ArduPilotMega / ArduCopter, http://diydrones.com MAV_AUTOPILOT_OPENPILOT = 4 // OpenPilot, http://openpilot.org MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY = 5 // Generic autopilot only supporting simple waypoints MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY = 6 // Generic autopilot supporting waypoints and other simple navigation commands MAV_AUTOPILOT_GENERIC_MISSION_FULL = 7 // Generic autopilot supporting the full mission command set MAV_AUTOPILOT_INVALID = 8 // No valid autopilot, e.g. a GCS or other MAVLink component MAV_AUTOPILOT_PPZ = 9 // PPZ UAV - http://nongnu.org/paparazzi MAV_AUTOPILOT_UDB = 10 // UAV Dev Board MAV_AUTOPILOT_FP = 11 // FlexiPilot )
MAV_AUTOPILOT: Micro air vehicle / autopilot classes. This identifies the individual model.
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const ( MAV_TYPE_GENERIC = 0 // Generic micro air vehicle. MAV_TYPE_FIXED_WING = 1 // Fixed wing aircraft. MAV_TYPE_QUADROTOR = 2 // Quadrotor MAV_TYPE_COAXIAL = 3 // Coaxial helicopter MAV_TYPE_HELICOPTER = 4 // Normal helicopter with tail rotor. MAV_TYPE_ANTENNA_TRACKER = 5 // Ground installation MAV_TYPE_GCS = 6 // Operator control unit / ground control station MAV_TYPE_AIRSHIP = 7 // Airship, controlled MAV_TYPE_FREE_BALLOON = 8 // Free balloon, uncontrolled MAV_TYPE_ROCKET = 9 // Rocket MAV_TYPE_GROUND_ROVER = 10 // Ground rover MAV_TYPE_SURFACE_BOAT = 11 // Surface vessel, boat, ship MAV_TYPE_SUBMARINE = 12 // Submarine MAV_TYPE_HEXAROTOR = 13 // Hexarotor MAV_TYPE_OCTOROTOR = 14 // Octorotor MAV_TYPE_TRICOPTER = 15 // Octorotor MAV_TYPE_FLAPPING_WING = 16 // Flapping wing )
MAV_TYPE:
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const ( MAV_MODE_FLAG_SAFETY_ARMED = 128 // 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. MAV_MODE_FLAG_MANUAL_INPUT_ENABLED = 64 // 0b01000000 remote control input is enabled. MAV_MODE_FLAG_HIL_ENABLED = 32 // 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. MAV_MODE_FLAG_STABILIZE_ENABLED = 16 // 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. MAV_MODE_FLAG_GUIDED_ENABLED = 8 // 0b00001000 guided mode enabled, system flies MISSIONs / mission items. MAV_MODE_FLAG_AUTO_ENABLED = 4 // 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. MAV_MODE_FLAG_TEST_ENABLED = 2 // 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1 // 0b00000001 Reserved for future use. )
MAV_MODE_FLAG: These flags encode the MAV mode.
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const ( MAV_MODE_FLAG_DECODE_POSITION_SAFETY = 128 // First bit: 10000000 MAV_MODE_FLAG_DECODE_POSITION_MANUAL = 64 // Second bit: 01000000 MAV_MODE_FLAG_DECODE_POSITION_HIL = 32 // Third bit: 00100000 MAV_MODE_FLAG_DECODE_POSITION_STABILIZE = 16 // Fourth bit: 00010000 MAV_MODE_FLAG_DECODE_POSITION_GUIDED = 8 // Fifth bit: 00001000 MAV_MODE_FLAG_DECODE_POSITION_AUTO = 4 // Sixt bit: 00000100 MAV_MODE_FLAG_DECODE_POSITION_TEST = 2 // Seventh bit: 00000010 MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE = 1 // Eighth bit: 00000001 )
MAV_MODE_FLAG_DECODE_POSITION: These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.
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const ( MAV_STATE_UNINIT = 0 // Uninitialized system, state is unknown. MAV_STATE_BOOT = 1 // System is booting up. MAV_STATE_CALIBRATING = 2 // System is calibrating and not flight-ready. MAV_STATE_STANDBY = 3 // System is grounded and on standby. It can be launched any time. MAV_STATE_ACTIVE = 4 // System is active and might be already airborne. Motors are engaged. MAV_STATE_CRITICAL = 5 // System is in a non-normal flight mode. It can however still navigate. MAV_STATE_EMERGENCY = 6 // System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down. MAV_STATE_POWEROFF = 7 // System just initialized its power-down sequence, will shut down now. )
MAV_STATE:
Variables ¶
This section is empty.
Functions ¶
func Init ¶
func Init()
Init initializes mavlink.ProtocolName, mavlink.ProtocolVersion, and mavlink.MessageFactory.
func MessageNameIDMap ¶
MessageNameIDMap returns a map from message name to message ID.
Types ¶
type Heartbeat ¶
type Heartbeat struct {
CustomMode uint32 // A bitfield for use for autopilot-specific flags.
Type uint8 // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
Autopilot uint8 // Autopilot type / class. defined in MAV_AUTOPILOT ENUM
BaseMode uint8 // System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
SystemStatus uint8 // System status flag, see MAV_STATE ENUM
MavlinkVersion uint8 // MAVLink version
}
The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot).
func NewHeartbeat ¶
func NewHeartbeat() *Heartbeat
func (*Heartbeat) FieldsString ¶
func (*Heartbeat) TypeCRCExtra ¶
Source Files
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