NCRL MAVLink

A MAVLink dialect extended by NCRL (Networked Control Robotics Lab)

Instruction for generating C header files

git clone https://github.com/ArduPilot/pymavlink.git

python ./pymavlink/tools/mavgen.py --lang=C --wire-protocol=2.0 --output=generated/include/mavlink/v2.0 message_definitions/ncrl_mavlink.xml

Extended messages

polynomial_trajectory_write

• uint8_t target_system
• uint8_t target_component
• uint8_t list_size

polynomial_trajectory_cmd

• uint8_t target_system
• uint8_t target_component
• uint8_t cmd
• bool option

polynomial_trajectory_ack

• uint8_t target_system
• uint8_t target_component
• uint8_t ack_val

polynomial_trajectory_item

• uint8_t target_system
• uint8_t target_component
• float[8] x_coeff
• float[8] y_coeff
• float[8] z_coeff
• float[8] yaw_coeff

polynomial_trajectory_position_debug

• uint8_t target_system
• uint8_t target_component
• float x
• float y
• float z
• float x_d
• float y_d
• float z_d

polynomial_trajectory_velocity_debug

• uint8_t target_system
• uint8_t target_component
• float vx
• float vy
• float vz
• float vx_d
• float vy_d
• float vz_d

polynomial_trajectory_acceleration_debug

• uint8_t target_system
• uint8_t target_component
• float ax_ff
• float ay_ff
• float az_ff

Extended enums

polynomial_trajectory_cmd_types

trajectory_following_start: 0

trajectory_following_stop: 1

polynomial_trajectory_ack_values

trajectory_ack_ok: 0

trajectory_ack_error: 1