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Move MAV_CMD_GUIDED_CHANGE_HEADING to common.xml #504

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Merged
peterbarker merged 2 commits into from
May 20, 2026
Merged

Move MAV_CMD_GUIDED_CHANGE_HEADING to common.xml #504

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820f0ae
ardupilotmega/common: Move MAV_CMD_GUIDED_CHANGE_HEADING to common.xml
hamishwillee May 20, 2026
9606988
common.xml: Update MAV_CMD_GUIDED_CHANGE_HEADING and HEADING_TYPE
hamishwillee May 20, 2026
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17 changes: 2 additions & 15 deletions message_definitions/v1.0/ardupilotmega.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,11 +20,7 @@
<entry value="16777215" name="ACCELCAL_VEHICLE_POS_SUCCESS"/>
<entry value="16777216" name="ACCELCAL_VEHICLE_POS_FAILED"/>
</enum>
<enum name="HEADING_TYPE">
<entry value="0" name="HEADING_TYPE_COURSE_OVER_GROUND"/>
<entry value="1" name="HEADING_TYPE_HEADING"/>
<entry value="2" name="HEADING_TYPE_DEFAULT"/>
</enum>
<!-- HEADING_TYPE moved to common.xml -->
<!-- ardupilot specific MAV_CMD_* commands -->
<enum name="MAV_CMD">
<!-- 200 to 214 used by common.xml -->
Expand Down Expand Up @@ -321,16 +317,7 @@
<param index="6">Empty</param>
<param index="7" label="target alt" units="m">Target Altitude</param>
</entry>
<entry value="43002" name="MAV_CMD_GUIDED_CHANGE_HEADING" hasLocation="false" isDestination="false">
<description>Change to target heading at a given rate, overriding previous heading/s. This slews the vehicle at a controllable rate between it's previous heading and the new one. (affects GUIDED only. Exiting GUIDED returns aircraft to normal behaviour defined elsewhere. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)</description>
<param index="1" label="heading type" enum="HEADING_TYPE">course-over-ground or raw vehicle heading.</param>
<param index="2" label="heading target" units="deg" minValue="0" maxValue="359.99">Target heading.</param>
<param index="3" label="heading rate-of-change" units="m/s/s">Maximum centripetal accelearation, ie rate of change, toward new heading.</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<!-- 43002 MAV_CMD_GUIDED_CHANGE_HEADING moved to common.xml -->
<entry value="43005" name="MAV_CMD_SET_HAGL" hasLocation="false" isDestination="false">
<description>Provide a value for height above ground level. This can be used for things like fixed wing and VTOL landing.</description>
<param index="1" label="hagl" units="m">Height above ground level.</param>
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18 changes: 18 additions & 0 deletions message_definitions/v1.0/common.xml
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Expand Up @@ -2461,6 +2461,12 @@
<param index="6">Empty.</param>
<param index="7">Empty.</param>
</entry>
<entry value="43002" name="MAV_CMD_GUIDED_CHANGE_HEADING" hasLocation="false" isDestination="false">
<description>Change to target direction at a given rate, overriding previous heading/s. This slews the vehicle at a controllable rate between its previous heading and the new one.</description>
<param index="1" label="Heading Type" enum="HEADING_TYPE">Course-over-ground or raw vehicle heading.</param>
<param index="2" label="Heading Target" units="deg" minValue="0" maxValue="359.99">Target heading.</param>
<param index="3" label="Heading Rate of Change" units="deg/s">Maximum centripetal acceleration, i.e. rate of change toward new heading.</param>
</entry>
<!-- from ardupilotmega.xml (hence ID is in that range) -->
<entry value="43003" name="MAV_CMD_EXTERNAL_POSITION_ESTIMATE" hasLocation="true" isDestination="false">
<description>Provide an external position estimate for use when dead-reckoning. This is meant to be used for occasional position resets that may be provided by a external system such as a remote pilot using landmarks over a video link.</description>
Expand Down Expand Up @@ -3447,6 +3453,18 @@
<description>Descent speed</description>
</entry>
</enum>
<enum name="HEADING_TYPE">
<description>Heading setpoint types used in MAV_CMD_GUIDED_CHANGE_HEADING</description>
<entry value="0" name="HEADING_TYPE_COURSE_OVER_GROUND">
<description>Course over ground.</description>
</entry>
<entry value="1" name="HEADING_TYPE_HEADING">
<description>Raw vehicle heading.</description>
</entry>
<entry value="2" name="HEADING_TYPE_DEFAULT">
<description>Default heading.</description>
</entry>
</enum>
<!-- ESTIMATOR_STATUS_FLAGS - these values should be bit-and with the messages flags field to know if flag has been set -->
<enum name="ESTIMATOR_STATUS_FLAGS" bitmask="true">
<description>Flags in ESTIMATOR_STATUS message</description>
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