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PIXHAWK PHANTOM UAV – Command Summary

 

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Command Summary

Here is a summary of the subset of MAVLink commands that Auduplane supports and the implementation by Mission Planner.

 

Refer to the Audupilot documentation here for further details.

Frames of Reference

Plane NAV commands use MAV_FRAME_GLOBAL_RELATIVE_ALT frame. This means they use latitude and longitude in the WGS84 coordinate system but use altitude relative to the home position, which has altitude = 0.

Command Notes

CONDITION and DO commands are executed with the preceding NAVIGATION command. If the NAVIGATION command is completed before these commands are executed, these commands will be skipped and the next NAVIGATION command is executed.

CONDITION commands delay the execution of following DO command(s) until the condition is true.

Navigation Commands

Command

Description

MAV_CMD_NAV_WAYPOINT

Fly to the specified latitude, longitude and altitude. Command is complete when the plane is within the capture radius of the waypoint.

MAV_CMD_NAV_TAKEOFF

Climb to the specified altitude at the minimum climb angle if the airspeed sensor is used. Command is complete at the specified altitude. Note that the wind can alter the heading because the heading is not held.

MAV_CMD_NAV_LOITER_UNLIM

Fly towards the specified latitude, longitude and altitude and then fly in a circle around the waypoint with specified radius and direction indefinitely. Direction viewpoint is from above. Must change mode to break out of this command.

MAV_CMD_NAV_LOITER_TURNS

Fly towards the specified latitude, longitude and altitude and then fly in a circle around the waypoint with specified radius and direction N times.

MAV_CMD_NAV_LOITER_TIME

Fly towards the specified latitude, longitude and altitude and then fly in a circle around the waypoint with specified radius and direction for N seconds.

MAV_CMD_NAV_RETURN_TO_LAUNCH

Fly towards the home location (altitude is ALT_HOLD_RTL) or the rally point (altitude is rally point altitude) if closer and fly in a circle with radius WP_LOITER_RAD.

MAV_CMD_NAV_LAND

Glide with level attitude until reaching LAND_FLARE_ALT metres or LAND_FLARE_SEC seconds from the target landing point, then flare to the LAND_PITCH_CD pitch (in centidegrees) and will hold heading for the final approach.

MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT

Continue on the current course and climb or descend to the specified altitude. Command is complete at or past the specified altitude.

MAV_CMD_NAV_ALTITUDE_WAIT

Wait for an altitude or downward vertical speed. (This command is meant for balloons.)

MAV_CMD_NAV_LOITER_TO_ALT

Begin loiter at specified latitude and longitude. If latitude and longitude are 0, then loiter at the current position. Command complete when altitude is reached. If Heading Required parameter is non-zero, leave circle only when heading towards next waypoint.

MAV_CMD_NAV_DO_JUMP

Jump to the specified command number in the mission list. Jump N times or indefinitely. This command executes immediately and is not delayed by CONDITION_xxx commands. Maximum number of jumps in a mission is 15.

Condition Commands

Command

Description

MAV_CMD_NAV_CONDITION_DELAY

Delay the execution of the next DO command for a specified number of seconds.

MAV_CMD_NAV_CONDITION_DISTANCE

Delay the execution of the next DO command until the aircraft is within a specified distance (in metres) of the next waypoint.

Do Commands

Command

Description

MAV_CMD_DO_SET_MODE

Set the mode.

MAV_CMD_DO_CHANGE_SPEED

Set the horizontal speed and/or throttle (%) setting. The change applies until it is changed again or after a reboot.

MAV_CMD_DO_SET_HOME

If command parameter 1 = 1, then set home to the current location.

If command parameter 1 = 0, then set home to the coordinates and altitude in this command.

MAV_CMD_DO_SET_RELAY

Set a relay pin to high or low voltage.

MAV_CMD_DO_REPEAT_RELAY

Toggle a relay pin’s voltage a specified number of times with a specified delay between toggles.

MAV_CMD_DO_SET_SERVO

Set a specified servo output to a specified PWM value in microseconds.

MAV_CMD_DO_REPEAT_SERVO

Cycle a servo output between its mid position and a specified PWM value for a specified number of times with a specified time between servo movements.

MAV_CMD_DO_LAND_START

This command marks the start of a sequence of commands that executes a landing.

If RTL_AUTOLAND = 2, then an RTL causes a jump to the nearest DO_LAND_START in the command list.

MAV_CMD_DO_SET_ROI

Sets the Region Of Interest. The camera gimbal is then pointed towards here. Clear the ROI with zero parameters (Lat, Lon & Alt)

MAV_CMD_DO_DIGICAM_CONFIGURE

Configure a camera control system. (Mode, Shutter speed, aperture, ISO, motor cut-off time before shutter trigger.

MAV_CMD_DO_DIGICAM_CONTROL

Control a camera control system. (Camera on/off, focus lock/unlock, shutter)

MAV_CMD_DO_MOUNT-CONTROL

Set the roll, pitch, yaw and mode of a camera gimbal.

MAV_CMD_DO_SET_CAM_TRIGG_DIST

Trigger the camera shutter at regular distance intervals.

MAV_CMD_DO_FENCE_ENABLE

Not available in Mission Planner.

MAV_CMD_DO_INVERTED_FLIGHT

Set normal or inverted flight.

MAV_CMD_DO_AUTOTUNE_ENABLE

Enable or disable Autotune.

 

 

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