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39 lines
986 B
Plaintext
39 lines
986 B
Plaintext
# Mavlink message transport type.
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#
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# Used to transport mavlink_message_t via ROS topic
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#
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# :framing_status:
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# Frame decoding status: OK, CRC error, bad Signature (mavlink v2.0)
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# You may simply drop all non valid messages.
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# Used for GCS Bridge to transport unknown messages.
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#
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# :magic:
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# STX byte, used to determine protocol version v1.0 or v2.0.
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#
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# Please use mavros_msgs::mavlink::convert() from <mavros_msgs/mavlink_convert.hpp>
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# to convert between ROS and MAVLink message type
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# mavlink_framing_t enum
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uint8 FRAMING_OK = 1
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uint8 FRAMING_BAD_CRC = 2
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uint8 FRAMING_BAD_SIGNATURE = 3
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# stx values
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uint8 MAVLINK_V10 = 254
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uint8 MAVLINK_V20 = 253
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std_msgs/Header header
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uint8 framing_status
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uint8 magic # STX byte
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uint8 len
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uint8 incompat_flags
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uint8 compat_flags
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uint8 seq
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uint8 sysid
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uint8 compid
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uint32 msgid # 24-bit message id
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uint16 checksum
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uint64[<=33] payload64 # max size: (255+2+7)/8
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uint8[<=13] signature # optional signature, max size: 13
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