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Commit 109411ca authored by Alberto Nidasio's avatar Alberto Nidasio
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[Pyxis] Updated NAS attitude parameters and added parafoil specific commands

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message_definitions/pyxis.xml
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...@@ -61,25 +61,28 @@ ...@@ -61,25 +61,28 @@
<entry name="MAV_MS5803_ID" value="6"> <entry name="MAV_MS5803_ID" value="6">
<description>MS5803 barometer data</description> <description>MS5803 barometer data</description>
</entry> </entry>
<entry name="MAV_CURRENT_SENSE_ID" value="7"> <entry name="MAV_BME280_ID" value="7">
<description>BME280 barometer data</description>
</entry>
<entry name="MAV_CURRENT_SENSE_ID" value="8">
<description>Electrical current sensors data</description> <description>Electrical current sensors data</description>
</entry> </entry>
<entry name="MAV_LIS3MDL_ID" value="8"> <entry name="MAV_LIS3MDL_ID" value="9">
<description>LIS3MDL compass data</description> <description>LIS3MDL compass data</description>
</entry> </entry>
<entry name="MAV_DPL_PRESS_ID" value="9"> <entry name="MAV_DPL_PRESS_ID" value="10">
<description>Deployment pressure data</description> <description>Deployment pressure data</description>
</entry> </entry>
<entry name="MAV_STATIC_PRESS_ID" value="10"> <entry name="MAV_STATIC_PRESS_ID" value="11">
<description>Static pressure data</description> <description>Static pressure data</description>
</entry> </entry>
<entry name="MAV_PITOT_PRESS_ID" value="11"> <entry name="MAV_PITOT_PRESS_ID" value="12">
<description>Pitot pressure data</description> <description>Pitot pressure data</description>
</entry> </entry>
<entry name="MAV_BATTERY_VOLTAGE_ID" value="12"> <entry name="MAV_BATTERY_VOLTAGE_ID" value="13">
<description>Battery voltage data</description> <description>Battery voltage data</description>
</entry> </entry>
<entry name="MAV_STRAIN_GAUGE_ID" value="13"> <entry name="MAV_STRAIN_GAUGE_ID" value="14">
<description>Strain gauge data</description> <description>Strain gauge data</description>
</entry> </entry>
</enum> </enum>
...@@ -193,6 +196,15 @@ ...@@ -193,6 +196,15 @@
<field name="topic_id" type="uint8_t">Id of the topic to which the event should be posted</field> <field name="topic_id" type="uint8_t">Id of the topic to which the event should be posted</field>
<field name="event_id" type="uint8_t">Id of the event to be posted</field> <field name="event_id" type="uint8_t">Id of the event to be posted</field>
</message> </message>
<message id="15" name="SET_TARGET_COORDINATES_TC">
<description>Sets the target coordinates</description>
<field name="latitude" type="float" units="deg">Latitude</field>
<field name="longitude" type="float" units="deg">Longitude</field>
</message>
<message id="16" name="SET_ALGORITHM_TC">
<description>Sets the algorithm number (for parafoil guidance)</description>
<field name="algorithm_number" type="uint8_t">Algorithm number</field>
</message>
<!-- TODO: DEFINE PAYLOAD STUFF --> <!-- TODO: DEFINE PAYLOAD STUFF -->
...@@ -367,9 +379,10 @@ ...@@ -367,9 +379,10 @@
<field name="nas_vn" type="float" units="m/s">Navigation system estimated north velocity</field> <field name="nas_vn" type="float" units="m/s">Navigation system estimated north velocity</field>
<field name="nas_ve" type="float" units="m/s">Navigation system estimated east velocity</field> <field name="nas_ve" type="float" units="m/s">Navigation system estimated east velocity</field>
<field name="nas_vd" type="float" units="m/s">Navigation system estimated down velocity</field> <field name="nas_vd" type="float" units="m/s">Navigation system estimated down velocity</field>
<field name="nas_yaw" type="float" units="deg">Navigation system estimated attitude (yaw)</field> <field name="nas_qx" type="float" units="deg">Navigation system estimated attitude (qx)</field>
<field name="nas_pitch" type="float" units="deg">Navigation system estimated attitude (pitch)</field> <field name="nas_qy" type="float" units="deg">Navigation system estimated attitude (qy)</field>
<field name="nas_roll" type="float" units="deg">Navigation system estimated attitude (roll)</field> <field name="nas_qz" type="float" units="deg">Navigation system estimated attitude (qz)</field>
<field name="nas_qw" type="float" units="deg">Navigation system estimated attitude (qw)</field>
<field name="nas_bias_x" type="float">Navigation system gyroscope bias on x axis</field> <field name="nas_bias_x" type="float">Navigation system gyroscope bias on x axis</field>
<field name="nas_bias_y" type="float">Navigation system gyroscope bias on x axis</field> <field name="nas_bias_y" type="float">Navigation system gyroscope bias on x axis</field>
<field name="nas_bias_z" type="float">Navigation system gyroscope bias on x axis</field> <field name="nas_bias_z" type="float">Navigation system gyroscope bias on x axis</field>
...@@ -427,9 +440,10 @@ ...@@ -427,9 +440,10 @@
<field name="nas_vn" type="float" units="m/s">Navigation system estimated north velocity</field> <field name="nas_vn" type="float" units="m/s">Navigation system estimated north velocity</field>
<field name="nas_ve" type="float" units="m/s">Navigation system estimated east velocity</field> <field name="nas_ve" type="float" units="m/s">Navigation system estimated east velocity</field>
<field name="nas_vd" type="float" units="m/s">Navigation system estimated down velocity</field> <field name="nas_vd" type="float" units="m/s">Navigation system estimated down velocity</field>
<field name="nas_yaw" type="float" units="deg">Navigation system estimated attitude (yaw)</field> <field name="nas_qx" type="float" units="deg">Navigation system estimated attitude (qx)</field>
<field name="nas_pitch" type="float" units="deg">Navigation system estimated attitude (pitch)</field> <field name="nas_qy" type="float" units="deg">Navigation system estimated attitude (qy)</field>
<field name="nas_roll" type="float" units="deg">Navigation system estimated attitude (roll)</field> <field name="nas_qz" type="float" units="deg">Navigation system estimated attitude (qz)</field>
<field name="nas_qw" type="float" units="deg">Navigation system estimated attitude (qw)</field>
<field name="nas_bias_x" type="float">Navigation system gyroscope bias on x axis</field> <field name="nas_bias_x" type="float">Navigation system gyroscope bias on x axis</field>
<field name="nas_bias_y" type="float">Navigation system gyroscope bias on x axis</field> <field name="nas_bias_y" type="float">Navigation system gyroscope bias on x axis</field>
<field name="nas_bias_z" type="float">Navigation system gyroscope bias on x axis</field> <field name="nas_bias_z" type="float">Navigation system gyroscope bias on x axis</field>
...@@ -474,9 +488,10 @@ ...@@ -474,9 +488,10 @@
<field name="nas_vn" type="float" units="m/s">Navigation system estimated north velocity</field> <field name="nas_vn" type="float" units="m/s">Navigation system estimated north velocity</field>
<field name="nas_ve" type="float" units="m/s">Navigation system estimated east velocity</field> <field name="nas_ve" type="float" units="m/s">Navigation system estimated east velocity</field>
<field name="nas_vd" type="float" units="m/s">Navigation system estimated down velocity</field> <field name="nas_vd" type="float" units="m/s">Navigation system estimated down velocity</field>
<field name="nas_yaw" type="float" units="deg">Navigation system estimated attitude (yaw)</field> <field name="nas_qx" type="float" units="deg">Navigation system estimated attitude (qx)</field>
<field name="nas_pitch" type="float" units="deg">Navigation system estimated attitude (pitch)</field> <field name="nas_qy" type="float" units="deg">Navigation system estimated attitude (qy)</field>
<field name="nas_roll" type="float" units="deg">Navigation system estimated attitude (roll)</field> <field name="nas_qz" type="float" units="deg">Navigation system estimated attitude (qz)</field>
<field name="nas_qw" type="float" units="deg">Navigation system estimated attitude (qw)</field>
<field name="nas_bias_x" type="float">Navigation system gyroscope bias on x axis</field> <field name="nas_bias_x" type="float">Navigation system gyroscope bias on x axis</field>
<field name="nas_bias_y" type="float">Navigation system gyroscope bias on x axis</field> <field name="nas_bias_y" type="float">Navigation system gyroscope bias on x axis</field>
<field name="nas_bias_z" type="float">Navigation system gyroscope bias on x axis</field> <field name="nas_bias_z" type="float">Navigation system gyroscope bias on x axis</field>
......
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