[MAVLINK] List of supported commands - Live piloting

[Jerome]

Live commands / events

The drone implement 2 components in the Mavlink ecosystem:
Autopilot component will use MAV_COMP_ID_AUTOPILOT1 as
target_component
Camera component will use MAV_COMP_ID_CAMERA
All commands and events are sent / received according to mavlink coding
and acknowledge system

Index:

• Commands to MAV_COMP_ID_AUTOPILOT1
• Events from MAV_COMP_ID_AUTOPILOT1
• Commands to MAV_COMP_ID_CAMERA
• Events from MAV_COMP_ID_CAMERA

Commands to MAV_COMP_ID_AUTOPILOT1

• HEARTBEAT :
  The heartbeat should be sent to keep the udp link alive
• SYSTEM_TIME
  : time_unix_usec is used to set the system time on the drone

• SET MODE :
  • base_mode: unused
  • custom_mode: 32 bits value composed of:
    • main_mode: b0-b7
    • sub_mode: b8-b15
      > supported modes are:

main mode	sub mode	description
PX4_CUSTOM_MAIN_MODE_AUTO	PX4_CUSTOM_SUB_MODE_AUTO_MISSION	starts a flightplan mission
PX4_CUSTOM_MAIN_MODE_AUTO	PX4_CUSTOM_SUB_MODE_AUTO_RTL	starts a return home position
PX4_CUSTOM_MAIN_MODE_AUTO	PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF	arm the drone and take off
PX4_CUSTOM_MAIN_MODE_AUTO	PX4_CUSTOM_SUB_MODE_AUTO_LAND	lands the drone
PX4_CUSTOM_MAIN_MODE_POSCTL	PX4_CUSTOM_SUB_MODE_POSCTL_POSCTL	force manual control
PX4_CUSTOM_MAIN_MODE_MANUAL	Any	force manual control

• MANUAL_CONTROL : Manual control of the drone. Buttons are not taken into account

• PARAM REQUEST
  READ

• PARAM_REQUEST_LIST

• PARAM_SET

• MISSION_ITEM_INT
• MISSION_REQUEST_INT
• MISSION_REQUEST_LIST
• MISSION_COUNT
• MISSION_CLEAR_ALL
• MISSION_SET_CURRENT
  available mission types are: MAV_MISSION_TYPE_MISSION and
  MAV_MISSION_TYPE_RALLY
  • MAV_MISSION_TYPE_MISSION: flightplan mission
  • MAV_MISSION_TYPE_RALLY: first rally point is set as home
    position otherwise, home position is based on drone heuristics

• COMMAND_INT
  • MAV_CMD_DO_REPOSITION
    : starts a move to
  • MAV_CMD_DO_SET_ROI_LOCATION
    : sets a Region of Interest
  • MAV_CMD_DO_SET_ROI_NONE
    : cancels a ROI

• COMMAND_LONG
  • MAV_CMD_COMPONENT_ARM_DISARM
    : drone must be armed to react
  • MAV_CMD_NAV_TAKEOFF
    : takes off if armed
  • MAV_CMD_NAV_LAND
    : lands the drone
  • MAV_CMD_PREFLIGHT_CALIBRATION
    : launch / cancels magnetometer and gimbal calibrations
  • MAV_CMD_DO_MOUNT_CONTROL
    : mount mode is ignored and reference frame is always absolute
  • MAV_CMD_REQUEST_PROTOCOL_VERSION
  • MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES

Events from MAV_COMP_ID_AUTOPILOT1

• HEARTBEAT :
  Sent at 1Hz
• BATTERY_STATUS
  : Sent at 1Hz
• EXTENDED_SYS_STATE
  : Sent at 1Hz
• SYS_STATUS
  : It reports at 1Hz
  • sensor health : those are internal Parrot bits used for
    diagnostic
  • battery voltage in mV
  • battery level
• AUTOPILOT_VERSION:
  Sent at 1Hz
• PROTOCOL_VERSION
• STATUSTEXT
  : sends some warnings and errors to the GCS

• PARAM_VALUE

• GPS_RAW_INT
  : It reports at 10Hz
  • timestamp en usec
  • GPS fix type
  • GPS Latitude
  • GPS Longitude
  • GPS Altitude
  • satellites visible
• LOCAL_POSITION_NED
  : Sent at 30Hz
• GLOBAL_POSITION_INT
  : Sent at 10Hz
• UTM_GLOBAL_POSITION
  : Sent at 1Hz

• ATTITUDE :
  Sent at 5Hz
• ATTITUDE_QUATERNION
  : Sent at 30Hz

• VFR_HUD :
  Sent at 4Hz, airspeed and throttle are not supported
• ODODMETRY :
  Sent at 3Hz
• ALTITUDE :
  Sent at 1Hz
• HOME_POSITION
  : Sent at 1Hz

• MISSION_ITEM_INT
• MISSION_REQUEST_INT
• MISSION_COUNT
• MISSION_CURRENT
  : Sent at 1Hz
• MISSION_ITEM
  REACHED
• MISSION_ACK

• MOUNT_ORIENTATION
  : Sent at 3Hz

Commands to MAV_COMP_ID_CAMERA

In case of thermal capability, 2 streams are provided “frontal” and
“thermal”

• COMMAND_LONG
  • MAV_CMD_REQUEST_CAMERA_INFORMATION
  • MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION
  • MAV_CMD_REQUEST_CAMERA_SETTINGS
  • MAV_CMD_REQUEST_VIDEO_STREAM_STATUS
  • MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS
  • MAV_CMD_REQUEST_STORAGE_INFORMATION
  • MAV_CMD_VIDEO_START_STREAMING
  • MAV_CMD_VIDEO_STOP_STREAMING
  • MAV_CMD_VIDEO_START_CAPTURE
  • MAV_CMD_VIDEO_STOP_CAPTURE
  • MAV_CMD_IMAGE_START_CAPTURE
  • MAV_CMD_IMAGE_STOP_CAPTURE
  • MAV_CMD_SET_CAMERA_ZOOM
  • MAV_CMD_STORAGE_FORMAT
  • MAV_CMD_RESET_CAMERA_SETTINGS

• PARAM_EXT_REQUEST_READ
• PARAM_EXT_REQUEST_LIST
• PARAM_EXT_SET
  All camera parameters are described by the file found at
  cam_definition_uri in
  CAMERA_INFORMATION
  camera except CAM_MODE which toggles between photo and video

Events from MAV_COMP_ID_CAMERA

• HEARTBEAT
• VIDEO_STREAM_STATUS
• CAMERA_INFORMATION
• STORAGE_INFORMATION
• VIDEO_STREAM_INFORMATION
• VIDEO_STREAM_STATUS
• CAMERA_IMAGE_CAPTURED
• CAMERA_CAPTURE_STATUS
• CAMERA_SETTINGS

• PARAM_EXT_VALUE
• PARAM_EXT_ACK