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48 lines
2.8 KiB
48 lines
2.8 KiB
<?xml version="1.0"?>
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<mavlink>
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<!-- ICAROUS message definitions -->
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<!-- https://github.com/nasa/icarous -->
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<!-- email contacts: Swee Balachandran: swee.balachandran@nianet.org -->
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<!-- Cesar Munoz: cesar.a.munoz@nasa.gov -->
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<!-- mavlink ID range 42000 - 42099 -->
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<enums>
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<enum name="ICAROUS_TRACK_BAND_TYPES">
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<entry name="ICAROUS_TRACK_BAND_TYPE_NONE" value="0"/>
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<entry name="ICAROUS_TRACK_BAND_TYPE_NEAR" value="1"/>
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<entry name="ICAROUS_TRACK_BAND_TYPE_RECOVERY" value="2"/>
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</enum>
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<enum name="ICAROUS_FMS_STATE">
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<entry name="ICAROUS_FMS_STATE_IDLE" value="0"/>
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<entry name="ICAROUS_FMS_STATE_TAKEOFF" value="1"/>
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<entry name="ICAROUS_FMS_STATE_CLIMB" value="2"/>
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<entry name="ICAROUS_FMS_STATE_CRUISE" value="3"/>
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<entry name="ICAROUS_FMS_STATE_APPROACH" value="4"/>
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<entry name="ICAROUS_FMS_STATE_LAND" value="5"/>
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</enum>
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</enums>
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<messages>
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<message id="42000" name="ICAROUS_HEARTBEAT">
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<description>ICAROUS heartbeat</description>
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<field type="uint8_t" name="status" enum="ICAROUS_FMS_STATE">See the FMS_STATE enum.</field>
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</message>
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<message id="42001" name="ICAROUS_KINEMATIC_BANDS">
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<description>Kinematic multi bands (track) output from Daidalus</description>
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<field type="int8_t" name="numBands">Number of track bands</field>
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<field type="uint8_t" name="type1" enum="ICAROUS_TRACK_BAND_TYPES">See the TRACK_BAND_TYPES enum.</field>
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<field type="float" name="min1" units="deg">min angle (degrees)</field>
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<field type="float" name="max1" units="deg">max angle (degrees)</field>
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<field type="uint8_t" name="type2" enum="ICAROUS_TRACK_BAND_TYPES">See the TRACK_BAND_TYPES enum.</field>
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<field type="float" name="min2" units="deg">min angle (degrees)</field>
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<field type="float" name="max2" units="deg">max angle (degrees)</field>
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<field type="uint8_t" name="type3" enum="ICAROUS_TRACK_BAND_TYPES">See the TRACK_BAND_TYPES enum.</field>
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<field type="float" name="min3" units="deg">min angle (degrees)</field>
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<field type="float" name="max3" units="deg">max angle (degrees)</field>
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<field type="uint8_t" name="type4" enum="ICAROUS_TRACK_BAND_TYPES">See the TRACK_BAND_TYPES enum.</field>
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<field type="float" name="min4" units="deg">min angle (degrees)</field>
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<field type="float" name="max4" units="deg">max angle (degrees)</field>
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<field type="uint8_t" name="type5" enum="ICAROUS_TRACK_BAND_TYPES">See the TRACK_BAND_TYPES enum.</field>
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<field type="float" name="min5" units="deg">min angle (degrees)</field>
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<field type="float" name="max5" units="deg">max angle (degrees)</field>
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</message>
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</messages>
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</mavlink>
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