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commander: quick mag cal with fixed heading use MAV_CMD_FIXED_MAG_CAL_YAW message

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- use proper Mavlink MAV_CMD_FIXED_MAG_CAL_YAW command for initiating magnetometer quick cal
 - MAV_CMD_FIXED_MAG_CAL_YAW allows specifying the yaw and optionally latitude and longitude if the vehicle doesn't have GPS
This commit is contained in:
Daniel Agar
2020-09-06 19:25:11 -04:00
committed by GitHub
parent 1ac31100cc
commit ca9b6bc137
5 changed files with 73 additions and 31 deletions
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9
msg/vehicle_command.msg
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@@ -62,6 +62,7 @@ uint16 VEHICLE_CMD_DO_LAST = 240 # NOP - This command is only used to mark the
uint16 VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241 # Trigger calibration. This command will be only accepted if in pre-flight mode. See mavlink spec MAV_CMD_PREFLIGHT_CALIBRATION
uint16 PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION = 3 # param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration
uint16 VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242 # Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|
uint16 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243 # UAVCAN configuration. If param 1 == 1 actuator mapping and direction assignment should be started
uint16 VEHICLE_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|
uint16 VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246 # Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|
uint16 VEHICLE_CMD_MISSION_START = 300 # start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)|
@@ -70,14 +71,14 @@ uint16 VEHICLE_CMD_START_RX_PAIR = 500 # Starts receiver pairing |0:Spektrum|
uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.)
uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom
uint16 VEHICLE_CMD_DO_TRIGGER_CONTROL = 2003 # Enable or disable on-board camera triggering system
uint16 VEHICLE_CMD_LOGGING_START = 2510 # start streaming ULog data
uint16 VEHICLE_CMD_LOGGING_STOP = 2511 # stop streaming ULog data
uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600 # control starting/stopping transmitting data over the high latency link
uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000 # Command VTOL transition
uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001 # Request arm authorization
uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 # Prepare a payload deployment in the flight plan
uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed payload deployment
uint16 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243 # UAVCAN configuration. If param 1 == 1 actuator mapping and direction assignment should be started
uint16 VEHICLE_CMD_LOGGING_START = 2510 # start streaming ULog data
uint16 VEHICLE_CMD_LOGGING_STOP = 2511 # stop streaming ULog data
uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600 # control starting/stopping transmitting data over the high latency link
uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006 # Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.
uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED |
uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED |