UCS-VSM Commands¶
Command registration¶
Before commands can be issued to the vehicle VSM must inform UgCS about supported commands and mission items. This is done at the time of registering the vehicle with the system. Command registration includes description of supported parameters and their default values.
For each command vehicle supports it must send a Register_command message as part of Register_vehicle message before it can issue command via Device_command message.
Device_command message¶
Field name |
Type |
Description |
|---|---|---|
command_id |
uint32 |
Registered id for command. See |
parameters |
Parameter_field |
List of command specific parameters |
sub_commands |
Vsm_command |
List of sub commands for this command. Used when command is |
Commands natively supported by UgCS¶
Alphabetical list of supported vehicle commands available as subcommands for Mission upload command and as standalone commands
These are the commands natively supported by UgCS (commands with known semantic). By registering command from this list VSM notifies the UgCS that vehicle is capable to execute given command with given parameters.
Command |
Subsystem |
In Mission |
From UI |
Description |
|---|---|---|---|---|
Other commands can be defined by VSM via Register_vehicle.register_command message.
ADSB IDENT¶
Command ID: “adsb_set_ident”
Description: Turn on IDENT
Command has no parameters.
ADSB Set mode¶
Command ID: “adsb_set_mode”
Description: Turn ADSB transponder on/standby/off
Parameters
Name |
Type |
Description |
|---|---|---|
mode |
FIELD_SEMANTIC_ADSB_MODE |
Desired transponder mode see |
Arm vehicle¶
Command ID: “arm”
Description: Arm the motors.
There are no parameters for this command.
Start mission¶
Command ID: “auto”
Description: Put vehicle in AUTO control mode. Vehicle will setart flying mission if present.
There are no parameters for this command.
Set camera power state¶
Command ID: “camera_power”
Description: Switch camera on/off
Name |
Type |
Description |
|---|---|---|
power_state |
FIELD_SEMANTIC_ENUM |
See |
Camera power states¶
Name |
Value |
Description |
|---|---|---|
on |
CAMERA_POWER_STATE_ON |
Power on |
off |
CAMERA_POWER_STATE_OFF |
Power off |
toggle |
CAMERA_POWER_STATE_TOGGLE |
Switch power |
Trigger camera by distance¶
Mission item ID: “camera_trigger_by_distance”
Description: Initiate camera trigger on regular distance intervals starting from current position.
Parameters
Name |
Type |
Description |
|---|---|---|
count |
FIELD_SEMANTIC_INT |
Number of consecutive trigger actions to perform. |
delay |
FIELD_SEMANTIC_NUMERIC |
Time in seconds to wait for the first trigger |
distance |
FIELD_SEMANTIC_NUMERIC |
Distance to travel in meters between consecutive triggers. |
Trigger camera by time¶
Mission item ID: “camera_trigger_by_time”
Description: Initiate camera trigger on regular time intervals sarting from current position.
Parameters
Name |
Type |
Description |
|---|---|---|
period |
FIELD_SEMANTIC_NUMERIC |
Time in seconds to wait between triggers. |
delay |
FIELD_SEMANTIC_NUMERIC |
Time in seconds to wait for the first trigger |
count |
FIELD_SEMANTIC_INT |
Number of consecutive trigger actions to perform. |
Trigger camera from user interface¶
Mission item ID: “camera_trigger_command”
Description: Initiate camera trigger at current WP
Parameters
Name |
Type |
Description |
|---|---|---|
trigger_state |
FIELD_SEMANTIC_ENUM |
Camera |
Camera trigger states¶
Name |
Value |
Description |
|---|---|---|
video_start |
CAMERA_COMMAND_TRIGGER_STATE_VIDEO_START |
Start recording |
video_stop |
CAMERA_COMMAND_TRIGGER_STATE_VIDEO_STOP |
Stop recording or serial shooting |
single_shot |
CAMERA_COMMAND_TRIGGER_STATE_SINGLE_SHOT |
Take a single photo |
video_toggle |
CAMERA_COMMAND_TRIGGER_STATE_VIDEO_TOGGLE |
Switch video on/off |
Trigger camera¶
Mission item ID: “camera_trigger_mission”
Description: Initiate camera trigger on regular time intervals sarting from current position.
Parameters
Name |
Type |
Description |
|---|---|---|
state |
FIELD_SEMANTIC_ENUM |
Camera |
Camera trigger state¶
Name |
Value |
Description |
|---|---|---|
on |
CAMERA_MISSION_TRIGGER_STATE_ON |
Start recording |
off |
CAMERA_MISSION_TRIGGER_STATE_OFF |
Stop recording or serial shooting |
single_photo |
CAMERA_MISSION_TRIGGER_STATE_SINGLE_PHOTO |
Take a single photo |
serial_photo |
CAMERA_MISSION_TRIGGER_STATE_SERIAL_PHOTO |
Take a series of photos |
Direct Payload Control¶
Command ID: “direct_payload_control”
Description: Issue direct payload control command to the vehicle. Used to send joystick values to the vehicle payload.
Parameters
Name |
Type |
Description |
|---|---|---|
pitch |
FIELD_SEMANTIC_NUMERIC |
pitch value [-1 .. +1] |
roll |
FIELD_SEMANTIC_NUMERIC |
roll value [-1 .. +1] |
yaw |
FIELD_SEMANTIC_NUMERIC |
yaw value [-1 .. +1] |
zoom |
FIELD_SEMANTIC_NUMERIC |
zoom value [-1 .. +1] |
Direct Vehicle Control¶
Command ID: “direct_vehicle_control”
Description: Issue direct vehicle control command to the vehicle. Used to send joystick values to the vehicle.
Parameters
Name |
Type |
Description |
|---|---|---|
pitch |
FIELD_SEMANTIC_NUMERIC |
pitch value [-1 .. +1] |
roll |
FIELD_SEMANTIC_NUMERIC |
roll value [-1 .. +1] |
yaw |
FIELD_SEMANTIC_NUMERIC |
yaw value [-1 .. +1] |
throttle |
FIELD_SEMANTIC_NUMERIC |
throttle value [-1 .. +1] |
Disarm vehicle¶
Command ID: “disarm”
Description: Disarm the motors.
There are no parameters for this command.
Emergency Land¶
Command ID: “emergency_land”
Description: Emergency Land. Immediately turn off motors.
There are no parameters for this command.
Get native route¶
Command ID: “get_native_route”
Description:
Convert mission to the UTF8 text file which can be used by vehicle’s native application. All mission items are added to Device_command.sub_commands list. See also supported commands. The native route file is returned via Device_response.status field.
Supported parameters:
Name |
Type |
Description |
|---|---|---|
use_crlf |
FIELD_SEMANTIC_BOOL |
Line endings to be used in returned file. true: CRLF, false: LF |
Plus supports all the same parameters as Mission upload
Guided (Click&Go) mode¶
Command ID: “guided”
Description: Put vehicle in Click&Go control mode. Vehicle can be controlled via Waypoint command command.
There are no parameters for this command.
Joystick¶
Command ID: “joystick”
Description: Enter Joystick control mode.
There are no parameters for this command.
Land¶
Command ID: “land_command”
Description: Land at current position
There are no parameters for this command.
Landing position¶
Mission item ID: “land_mission”
Description: Specify landing position of the vehicle.
Parameters
Name |
Type |
Description |
|---|---|---|
latitude |
FIELD_SEMANTIC_LATITUDE |
Geodetic latitude |
longitude |
FIELD_SEMANTIC_LONGITUDE |
Geodetic longitude |
altitude_amsl |
FIELD_SEMANTIC_ALTITUDE_AMSL |
Altitude at which to begin descent. |
descent_rate |
FIELD_SEMANTIC_VERTICAL_SPEED |
Descent speed in m/s |
ground_elevation |
FIELD_SEMANTIC_GROUND_ELEVATION |
Ground elevation at landing position (optional) |
acceptance_radius |
FIELD_SEMANTIC_ACCEPTANCE_RADIUS |
When the sphere with the radius centered at the target position is hit by the vehicle the target position is considered reached. |
heading |
FIELD_SEMANTIC_HEADING |
Vehicle heading at the WP |
follow_terrain |
FIELD_SEMANTIC_BOOL |
Vehicle moving to the WP in follow terrain mode. Altitude above terrain is calculated as altitude_amsl minus ground_elevation. |
Manual control mode.¶
Command ID: “manual”
Description: Put vehicle in MANUAL control mode. Vehicle can be controlled via RC transmitter.
There are no parameters for this command.
Delete route from vehicle¶
Command ID: “mission_clear”
Description: Deletes the current route from vehicle.
There are no parameters for this command.
Pause mission¶
Command ID: “mission_pause”
Description: Pause mission execution (HOLD). This will put vehicle in either Click&Go or Joystick mode depending on autopilot.
Supported parameters:
Name |
Type |
Description |
|---|---|---|
additional_altitude |
FIELD_SEMANTIC_NUMERIC |
After pause climb in given number of meters. This option is may be used for additional safety when flying near the earth |
Resume mission flight¶
Command ID: “mission_resume”
Description: Continue with mission.
There are no parameters for this command.
Mission upload¶
Command ID: “mission_upload”
Description: Uploads mission to the vehicle. All mission items are added to Device_command.sub_commands list. See also supported commands.
Some vehicles will return command_map along with the response which can be used to report command from mission the vehicle is executing currently. See message @ Mission_command_map.
Supported parameters:
Name |
Type |
Description |
|---|---|---|
altitude_origin |
FIELD_SEMANTIC_ALTITUDE_AMSL |
Altitude origin of the vehicle |
safe_altitude |
FIELD_SEMANTIC_ALTITUDE_AMSL |
Safe altitude. used for RTH and failsafe actions |
rc_loss_action |
FIELD_SEMANTIC_ENUM |
Failsafe action on RC loss. See |
gps_loss_action |
FIELD_SEMANTIC_ENUM |
Failsafe action on GPS loss. See |
low_battery_action |
FIELD_SEMANTIC_ENUM |
Failsafe action on low battery. See |
rth_action |
FIELD_SEMANTIC_ENUM |
Action after RTH. See |
rth_wait_altitude |
FIELD_SEMANTIC_ALTITUDE_AMSL |
Final altitude the drone should loiter after RTH. Used only when rth_action is “wait”. |
name |
FIELD_SEMANTIC_STRING |
User specified mission name |
Failsafe actions natively supported by UgCS¶
Action name |
Value |
Description |
|---|---|---|
continue |
FAILSAFE_ACTION_CONTINUE |
Continue with mission. Effectively ignores the failsafe condition. |
wait |
FAILSAFE_ACTION_WAIT |
Wait for failsafe condition to end and then continue with mission. |
land |
FAILSAFE_ACTION_LAND |
Land immediately at current position. |
rth |
FAILSAFE_ACTION_RTH |
Climb to safe altitude defined by |
Vehicle behavior after Return To Home¶
Action name |
Value |
Description |
|---|---|---|
land |
RTH_ACTION_LAND |
Descend and land |
wait |
RTH_ACTION_WAIT |
Do not land the vehicle but loiter at rth_wait_altitude. If rth_wait_altitude is not supported by autopilot then safe_altitude is used instead. |
Move command¶
Mission item ID: “move”
Description: Specifies the next waypoint. Upon encountering this item vehicle starts navigating to given coordinates using current speed and heading settings. Next mission item will be executed when vehicle arrives at the waypoint.
Supported parameters:
Name |
Type |
Description |
|---|---|---|
latitude |
FIELD_SEMANTIC_LATITUDE |
Geodetic latitude |
longitude |
FIELD_SEMANTIC_LONGITUDE |
Geodetic longitude |
altitude_amsl |
FIELD_SEMANTIC_ALTITUDE_AMSL |
|
ground_elevation |
FIELD_SEMANTIC_GROUND_ELEVATION |
Elevation in meters (i.e. terrain height) underneath the position. |
turn_type |
FIELD_SEMANTIC_ENUM |
See |
acceptance_radius |
FIELD_SEMANTIC_ACCEPTANCE_RADIUS |
When the sphere with the radius centered at the target position is hit by the vehicle the target position is considered reached. |
loiter_radius |
FIELD_SEMANTIC_LOITER_RADIUS |
Radius of the point fly-by orbit in meters. Positive value stands for the CW direction, negative - CCW. Use 0 for no-braking pass through the target point. |
wait_time |
FIELD_SEMANTIC_NUMERIC |
Seconds to wait at WP before preceeding to next WP |
heading |
FIELD_SEMANTIC_HEADING |
Vehicle heading at the WP |
follow_terrain |
FIELD_SEMANTIC_BOOL |
Vehicle moving to the WP in follow terrain mode. Altitude above terrain is calculated as altitude_amsl minus ground_elevation. |
corner_radius |
FIELD_SEMANTIC_NUMERIC |
For an angle formed by three points A, B, C if ‘turn_type’ of B is ‘bank_turn’, the aircraft is never reached B because it round the path around B. The ‘corner_radius’ for B is the distance between B and the point where the vehicle stops moving straight to B and starts to move in an arc. Only make sense if ‘turn_type’ is ‘bank_turn’. |
Vehicle turn types¶
Name |
Value |
|---|---|
stop_and_turn |
TURN_TYPE_STOP_AND_TURN |
straight |
TURN_TYPE_STRAIGHT |
spline |
TURN_TYPE_SPLINE |
bank_turn |
TURN_TYPE_BANK_TURN |
Panorama¶
Mission item ID: “panorama”
Description: Do panorama action.
Parameters
Name |
Type |
Description |
|---|---|---|
angle |
FIELD_SEMANTIC_NUMERIC |
Target panorama angle in a range [-2Pi, 2Pi]. If positive the rotation direction should be clockwise, if negative the rotation direction should be counter-clockwise. Set in radians. |
mode |
FIELD_SEMANTIC_ENUM |
Camera mode. See |
step |
FIELD_SEMANTIC_NUMERIC |
Absolute value of a step angle in case of a discrete shooting. Zero stands for a continuous rotation. Set in radians. |
delay |
FIELD_SEMANTIC_NUMERIC |
Wait time in seconds for each step. |
speed |
FIELD_SEMANTIC_NUMERIC |
Angular speed in rad/sec. |
Camera mode for panorama¶
Name |
Value |
Description |
|---|---|---|
photo |
PANORAMA_MODE_PHOTO |
Take a photo on each step |
video |
PANORAMA_MODE_VIDEO |
Do not stop on each step |
Send payload command¶
Mission item ID: “payload_command”
Description: Send to onboard computer a specific payload command encoded as a byte string.
Parameters
Name |
Type |
Description |
|---|---|---|
command |
FIELD_SEMANTIC_STRING |
Specific payload command arguments encoded as a byte string. |
Set payload attitude¶
Mission item ID: “payload_control”
Description: Move payload to given angles and zoom level. This is replacement of previous MAV_CMD_DO_PAYLOAD_CONTROL command.
Parameters
Name |
Type |
Description |
|---|---|---|
tilt |
FIELD_SEMANTIC_PITCH |
Camera tilt relative to vehicle horizontal plane. Positive is up. |
roll |
FIELD_SEMANTIC_ROLL |
Camera roll relative to vehicle horizontal plane. Roll right is positive. |
yaw |
FIELD_SEMANTIC_YAW |
Camera way angle relative to vehicle nose. Positive is right. |
zoom_level |
FIELD_SEMANTIC_NUMERIC |
Device specific zoom value. |
Repeat Servo¶
Mission item ID: “repeat_servo”
Description: Move servo to given position and back the specified amount of times. Set servo to given pwm, wait for delay, set servo to default position, wait for delay.
Repeat count sets how many times to execute the above sequence. It means that after sequence finishes servo is left at default position. Deafult position is autopilot specific and cannot be specified here.
Parameters
Name |
Type |
Description |
|---|---|---|
servo_id |
FIELD_SEMANTIC_NUMERIC |
Vehicle specific servo ID |
pwm |
FIELD_SEMANTIC_NUMERIC |
PWM rate in microseconds. Typical range is 1100..1900 |
delay |
FIELD_SEMANTIC_NUMERIC |
Delay in seconds |
count |
FIELD_SEMANTIC_NUMERIC |
How many times to repeat the sequence |
Return to Home¶
Command ID: “return_to_home”
Description: Return to Home position.
There are no parameters for this command.
Select camera as video source¶
Command ID: “select_as_video_source”
Description: Select this camera as source for video feed. Each camera which can be used as video source should register this command.
There are no parameters for this command.
Set Fence¶
Command ID: “set_fence”
Description: Create polygonal fence oarand cylindrical fence around Home Location. RTH will be triggered if vehicle tries to leave specified limits.
Parameters
Name |
Type |
Description |
|---|---|---|
altitude_amsl |
FIELD_SEMANTIC_ALTITUDE_AMSL |
Optional. Fence altitude in meters AMSL |
altitude_origin |
FIELD_SEMANTIC_ALTITUDE_AMSL |
Optional. Altitude origin in meters AMSL. Typically this should be the HL altitude. This altitude is sent by server along with amsl altitude |
altitude_raw |
FIELD_SEMANTIC_ALTITUDE_RAW |
Optional. Fence relative altitude in meters |
radius |
FIELD_SEMANTIC_NUMERIC |
Optional. Fence radius in meters. Max ground distance from Home Location |
latitudes |
FIELD_SEMANTIC_LATITUDE |
Optional. List of points latitudes that describe polygonal fence |
longitudes |
FIELD_SEMANTIC_LONGITUDE |
Optional. List of points longitudes that describe polygonal fence |
Set Gear State¶
Command ID: “set_gear_state”
Description: Retract or release gear
Parameters
Name |
Type |
Description |
|---|---|---|
release |
FIELD_SEMANTIC_BOOL |
true - release gear, false - retract gear |
Heading¶
Mission item ID: “set_heading”
Description: Change the heading of vehicle. This makes sense only for copter style vehicles when heading does not specify direction of flight.
IMPORTANT: “heading” mission item overrides any heading changes which are implicitly specified by payload control mission items in case payload yaw is controlled by vehicle heading.
Parameters
Name |
Type |
Description |
|---|---|---|
heading |
FIELD_SEMANTIC_HEADING |
Heading angle in radians from North |
Set home position¶
Mission item ID: “set_home”
Description: Specify home position of the vehicle. This is the location the vehicle will return on Return_To_Home command or in case of failsafe event and when failsafe is set to return to home.
Parameters
Name |
Type |
Description |
|---|---|---|
latitude |
FIELD_SEMANTIC_LATITUDE |
Geodetic latitude |
longitude |
FIELD_SEMANTIC_LONGITUDE |
Geodetic longitude |
altitude_amsl |
FIELD_SEMANTIC_ALTITUDE_AMSL |
Home position altitude |
ground_elevation |
FIELD_SEMANTIC_GROUND_ELEVATION |
Ground elevation at home position (optional) |
List of supported payload mission items with detailed description of each item in the following sections.
Set vehicle parameter¶
Mission item ID: “set_parameter”
Description: Set vehicle parameters.
Supported FC parameters:
Name |
Type |
Description |
|---|---|---|
landing_flare_altitude |
FIELD_SEMANTIC_NUMERIC |
|
landing_flare_time |
FIELD_SEMANTIC_NUMERIC |
|
min_landing_pitch |
FIELD_SEMANTIC_NUMERIC |
|
landing_flare_damp |
FIELD_SEMANTIC_NUMERIC |
|
landing_approach_airspeed |
FIELD_SEMANTIC_NUMERIC |
|
landing_speed_weighting |
FIELD_SEMANTIC_NUMERIC |
|
max_auto_flight_pitch |
FIELD_SEMANTIC_NUMERIC |
|
max_pitch |
FIELD_SEMANTIC_NUMERIC |
|
min_throttle |
FIELD_SEMANTIC_NUMERIC |
|
landing_sink_rate |
FIELD_SEMANTIC_NUMERIC |
|
landing_rangefinder_enabled |
FIELD_SEMANTIC_NUMERIC |
|
min_rangefinder_distance |
FIELD_SEMANTIC_NUMERIC |
Supported ADSB parameters:
Name |
Type |
Description |
|---|---|---|
adsb_icao |
FIELD_SEMANTIC_NUMERIC |
24 bit integer |
adsb_registration |
FIELD_SEMANTIC_STRING |
|
adsb_flight_id |
FIELD_SEMANTIC_STRING |
|
adsb_squawk |
FIELD_SEMANTIC_NUMERIC |
12 bit integer |
Point Of Interest¶
Mission item ID: “set_poi”
Description: Set Point Of Interest.
Parameters
Name |
Type |
Description |
|---|---|---|
latitude |
FIELD_SEMANTIC_LATITUDE |
Geodetic latitude |
longitude |
FIELD_SEMANTIC_LONGITUDE |
Geodetic longitude |
altitude_amsl |
FIELD_SEMANTIC_ALTITUDE_AMSL |
Altitude AMSL |
active |
FIELD_SEMANTIC_BOOL |
true: start poi, false: end poi action. |
Set Position Offset¶
Command ID: “set_position_offset”
Description: Issue vehicle to change it position relatively to current position in body frame.
Parameters
Name |
Type |
Description |
|---|---|---|
x |
FIELD_SEMANTIC_NUMERIC |
offset in X-axis in meters (positive - forward) |
y |
FIELD_SEMANTIC_NUMERIC |
offset in Y-axis in meters (positive - right) |
z |
FIELD_SEMANTIC_NUMERIC |
offset in Z-axis in meters (positive - down) |
Set Relative Heading¶
Command ID: “set_relative_heading”
Description: Issue vehicle to change it heading relatively to current heading.
Parameters
Name |
Type |
Description |
|---|---|---|
relative_heading |
FIELD_SEMANTIC_NUMERIC |
turning around Z-Axis in radians relative to current heading (positive - CW) |
Set Servo¶
Mission item ID: “set_servo”
Description: Move servo to given position and hold.
Parameters
Name |
Type |
Description |
|---|---|---|
servo_id |
FIELD_SEMANTIC_NUMERIC |
Vehicle specific servo ID |
pwm |
FIELD_SEMANTIC_NUMERIC |
PWM rate in microseconds. Typical range is 1100..1900 |
Set Speed¶
Mission item ID: “set_speed”
Description: Set the maximum ground speed which will be used by vehicle from now on. This is the horizontal component of speed.
Parameters
Name |
Type |
Description |
|---|---|---|
ground_speed |
FIELD_SEMANTIC_GROUND_SPEED |
Ground speed in m/s |
vertical_speed |
FIELD_SEMANTIC_VERTICAL_SPEED |
Climb speed in m/s |
Set Tension¶
Command ID: “set_tension”
Description: Set tension value for the winch in Newtons
Parameters
Name |
Type |
Description |
|---|---|---|
tension |
FIELD_SEMANTIC_NUMERIC |
tension value |
Takeoff¶
Command ID: “takeoff_command”
Description: Takeoff from current position
Parameters
Name |
Type |
Description |
|---|---|---|
relative_altitude |
FIELD_SEMANTIC_ALTITUDE_RAW, META_VALUE_NA |
relative altitude for takeoff |
Takeoff position¶
Mission item ID: “takeoff_mission”
Description: Specify takeoff position of the vehicle.
Parameters
Name |
Type |
Description |
|---|---|---|
latitude |
FIELD_SEMANTIC_LATITUDE |
Geodetic latitude |
longitude |
FIELD_SEMANTIC_LONGITUDE |
Geodetic longitude |
altitude_amsl |
FIELD_SEMANTIC_ALTITUDE_AMSL |
Takeoff target altitude. Vehicle will ascend to this altitude before proceeding to given latitude and longitude. If vehicle is airborne and is above target altitude it will proceed to given latitude and longitude immediately. |
climb_rate |
FIELD_SEMANTIC_VERTICAL_SPEED |
Climb speed in m/s |
ground_elevation |
FIELD_SEMANTIC_GROUND_ELEVATION |
Ground elevation at takeoff position (optional) |
acceptance_radius |
FIELD_SEMANTIC_ACCEPTANCE_RADIUS |
When the sphere with the radius centered at the target position is hit by the vehicle the target position is considered reached. |
heading |
FIELD_SEMANTIC_HEADING |
Vehicle heading at the WP |
Transition to fixed wing flight¶
Mission item ID: “transition_fixed”
Description: Put the fixed wing VTOL capable vehicle in fixed wing flight mode.
Transition to VTOL flight¶
Mission item ID: “transition_vtol”
Description: Put the fixed wing VTOL capable vehicle in copter-like mode.
Trigger sensor calibration¶
Mission item ID: “trigger_calibration”
Description: Starts vehicle sensor calibration sequence. Vehicle must be stationary in on the ground, disarmed.
Wait¶
Mission item ID: “wait”
Description: Wait for given number of seconds in current position before continuing with next mission item. Specify time==N/A to wait indefinitely.
Parameters
Name |
Type |
Description |
|---|---|---|
time |
FIELD_SEMANTIC_NUMERIC |
Number of seconds to wait. If the field value is N/A, then wait indefinitely. |
Wait¶
Mission item ID: “wait_until”
Description: Wait until given time before continuing with next mission item. Specify time==N/A to wait indefinitely.
Parameters
Name |
Type |
Description |
|---|---|---|
time |
FIELD_SEMANTIC_TIMESTAMP |
Milliseconds of UTC time since Unix epoch (1970-01-01T00:00:00Z) |
Waypoint command¶
Command ID: “waypoint”
Description: Specifies the single waypoint. Used while vehicle is in Click&Go control mode.
Supported parameters:
Name |
Type |
Description |
|---|---|---|
latitude |
FIELD_SEMANTIC_LATITUDE |
Geodetic latitude |
longitude |
FIELD_SEMANTIC_LONGITUDE |
Geodetic longitude |
altitude_amsl |
FIELD_SEMANTIC_ALTITUDE_AMSL |
|
altitude_origin |
FIELD_SEMANTIC_ALTITUDE_AMSL |
Altitude origin of the vehicle |
ground_speed |
FIELD_SEMANTIC_GROUND_SPEED |
Ground speed in m/s |
vertical_speed |
FIELD_SEMANTIC_VERTICAL_SPEED |
Climb speed in m/s |
acceptance_radius |
FIELD_SEMANTIC_ACCEPTANCE_RADIUS |
When the sphere with the radius centered at the target position is hit by the vehicle the target position is considered reached. |
heading |
FIELD_SEMANTIC_HEADING |
Vehicle heading at the WP |