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simba.xml
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159 lines (138 loc) · 8.71 KB
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<?xml version="1.0"?>
<mavlink>
<include>minimal.xml</include>
<include>simba_radio.xml</include>
<version>2</version>
<dialect>3</dialect>
<enums>
<enum name="SIMBA_ROCKET_STATE">
<description>Rocket states</description>
<entry value="1" name="SIMBA_ROCKET_STATE_INIT" />
<entry value="2" name="SIMBA_ROCKET_STATE_DISARM" />
<entry value="3" name="SIMBA_ROCKET_STATE_ARM" />
<entry value="4" name="SIMBA_ROCKET_STATE_LAUNCH" />
<entry value="5" name="SIMBA_ROCKET_STATE_FLIGHT" />
<entry value="6" name="SIMBA_ROCKET_STATE_APOGEE" />
<entry value="7" name="SIMBA_ROCKET_STATE_DESCENT_PILOT" />
<entry value="8" name="SIMBA_ROCKET_STATE_SEC_PARACHUTE" />
<entry value="9" name="SIMBA_ROCKET_STATE_DESCENT_MAIN" />
<entry value="10" name="SIMBA_ROCKET_STATE_TOUCHDOWN" />
<entry value="54" name="SIMBA_ROCKET_STATE_CONNECTION_LOST" />
<entry value="64" name="SIMBA_ROCKET_STATE_ABORT" />
</enum>
<enum name="SIMBA_ACTUATOR_FLAGS" bitmask="true">
<entry value="1" name="SIMBA_ACTUATOR_FLAGS_MAIN_VALVE" />
<entry value="2" name="SIMBA_ACTUATOR_FLAGS_VENT_VALVE" />
<entry value="4" name="SIMBA_ACTUATOR_FLAGS_DUMP_VALVE" />
<entry value="8" name="SIMBA_ACTUATOR_FLAGS_RECOVERY_SERVO" />
<entry value="16" name="SIMBA_ACTUATOR_FLAGS_RECOVERY_LINECUTTER" />
<entry value="32" name="SIMBA_ACTUATOR_FLAGS_CAMERAS_ENABLED" />
</enum>
<enum name="SIMBA_PRIMER_STATE">
<entry value="0" name="SIMBA_PRIMER_STATE_UNKNOWN" />
<entry value="1" name="SIMBA_PRIMER_STATE_NOT_CONNECTED" />
<entry value="2" name="SIMBA_PRIMER_STATE_CONNECTED" />
<entry value="3" name="SIMBA_PRIMER_STATE_SHORT_CIRCUIT" />
<entry value="4" name="SIMBA_PRIMER_STATE_FIRED" />
</enum>
<enum name="SIMBA_GS_FLAGS" bitmask="true">
<entry value="1" name="SIMBA_GS_FLAGS_DISARM" />
<entry value="2" name="SIMBA_GS_FLAGS_ARM" />
<entry value="4" name="SIMBA_GS_FLAGS_LAUNCH" />
<entry value="8" name="SIMBA_GS_FLAGS_ABORT" />
<entry value="16" name="SIMBA_GS_FLAGS_VENT_VALVE" />
<entry value="32" name="SIMBA_GS_FLAGS_DUMP_VALVE" />
<entry value="64" name="SIMBA_GS_FLAGS_CAMERAS" />
</enum>
<enum name="SIMBA_ROCKET_SERVICE" bitmask="true">
<entry value="1" name="SIMBA_ROCKET_SERVICE_EC_TIMESTAMP_MW" />
<entry value="2" name="SIMBA_ROCKET_SERVICE_EC_I2C_MW" />
<entry value="4" name="SIMBA_ROCKET_SERVICE_EC_GPIO_MW" />
<entry value="8" name="SIMBA_ROCKET_SERVICE_EC_TEMP_MW" />
<entry value="16" name="SIMBA_ROCKET_SERVICE_EC_SERVO" />
<entry value="32" name="SIMBA_ROCKET_SERVICE_EC_ENG" />
<entry value="64" name="SIMBA_ROCKET_SERVICE_EC_ENV" />
<entry value="128" name="SIMBA_ROCKET_SERVICE_EC_LOGGER" />
<entry value="256" name="SIMBA_ROCKET_SERVICE_EC_STAT" />
<entry value="512" name="SIMBA_ROCKET_SERVICE_EC_IGNITER" />
<entry value="1024" name="SIMBA_ROCKET_SERVICE_FC_TIMESTAMP_MW" />
<entry value="2048" name="SIMBA_ROCKET_SERVICE_FC_I2C_MW" />
<entry value="4096" name="SIMBA_ROCKET_SERVICE_FC_GPIO_MW" />
<entry value="8192" name="SIMBA_ROCKET_SERVICE_FC_TEMP_MW" />
<entry value="16384" name="SIMBA_ROCKET_SERVICE_FC_ENV" />
<entry value="32768" name="SIMBA_ROCKET_SERVICE_FC_GPS" />
<entry value="65536" name="SIMBA_ROCKET_SERVICE_FC_REC" />
<entry value="131072" name="SIMBA_ROCKET_SERVICE_FC_RADIO" />
<entry value="262144" name="SIMBA_ROCKET_SERVICE_FC_MAIN" />
<entry value="524288" name="SIMBA_ROCKET_SERVICE_FC_STAT" />
</enum>
</enums>
<messages>
<message id="69" name="SIMBA_TANK_SENSORS">
<description>Tank temperature sensor readings.</description>
<!-- temp = float * 10 -->
<field type="int16_t" name="upper_tank">Upper tank temperature</field>
<field type="int16_t" name="middle_tank">Middle tank temperature</field>
<field type="int16_t" name="lower_tank">Lower tank temperature</field>
<!-- pressure = float * 100 -->
<field type="uint16_t" name="pressure">Tank pressure</field>
</message>
<message id="71" name="SIMBA_IMU">
<description>IMU data (scaled float → int16_t)</description>
<field type="uint64_t" name="timestamp">Timestamp [ms]</field>
<!-- Accelerometer values (scaled) acc_g / 0.0005f -->
<field type="int16_t" name="acc_x">Acceleration X (scaled)</field>
<field type="int16_t" name="acc_y">Acceleration Y (scaled)</field>
<field type="int16_t" name="acc_z">Acceleration Z (scaled)</field>
<!-- Gyroscope values (scaled) gyro_dps / 0.1f -->
<field type="int16_t" name="gyro_x">Gyroscope X (scaled)</field>
<field type="int16_t" name="gyro_y">Gyroscope Y (scaled)</field>
<field type="int16_t" name="gyro_z">Gyroscope Z (scaled)</field>
<!-- Orientation (scaled) roll / 0.01f -->
<field type="int16_t" name="roll">Roll angle (scaled)</field>
<field type="int16_t" name="pitch">Pitch angle (scaled)</field>
<field type="int16_t" name="yaw">Yaw angle (scaled)</field>
<!-- Barometric altitude NOT SCALED-->
<field type="int32_t" name="altitude">Altitude (scaled) [cm]</field>
</message>
<message id="72" name="SIMBA_GPS">
<description>GPS latitude, longitude and altitude.</description>
<field type="int32_t" name="lat">Latitude (1E7 * degrees)</field>
<field type="int32_t" name="lon">Longitude (1E7 * degrees)</field>
<field type="int32_t" name="altitude">Altitude (scaled) [cm]</field>
</message>
<message id="73" name="SIMBA_ROCKET_HEARTBEAT">
<description>Rocket heartbeat message sent during whole mission.</description>
<field type="uint64_t" name="timestamp">Timestamp (system uptime in ms)</field>
<field type="uint32_t" enum="SIMBA_ROCKET_SERVICE" name="apps_alive"> Bitmap for all ec and fc apps </field>
<field type="uint8_t" name="flight_computer_state" enum="SIMBA_ROCKET_STATE">Flight computer state</field>
<field type="uint8_t" name="engine_computer_state" enum="SIMBA_ROCKET_STATE">Engine computer state</field>
<field type="uint8_t" name="values" enum="SIMBA_ACTUATOR_FLAGS">Actuator bitmask</field>
<field type="uint8_t" name="primer_state" enum="SIMBA_PRIMER_STATE">Primer State</field>
</message>
<message id="74" name="SIMBA_GS_HEARTBEAT">
<description>Ground station heartbeat.</description>
<field type="uint64_t" name="timestamp">Timestamp (system uptime in ms)</field>
<field type="uint8_t" name="values" enum="SIMBA_GS_FLAGS">GS buttons bitmask</field>
</message>
<message id="75" name="SIMBA_MAX_ALTITUDE">
<description>Barometric maximum altitude</description>
<field type="int32_t" name="altitude"> Altitude (scaled) [cm] </field>
</message>
<message id="77" name="SIMBA_COMPUTERS_TELEMETRY">
<description> Rocket Computer Usage </description>
<field type="uint8_t" name="mb_cpu_usage"> Main Computer CPU usage (0-100%)</field>
<field type="uint8_t" name="mb_memory_usage"> Main Computer Memory usage (0-100%)</field>
<field type="uint8_t" name="eb_cpu_usage"> Engine Computer CPU usage (0-100%)</field>
<field type="uint8_t" name="eb_memory_usage"> Engine Computer Memory usage (0-100%)</field>
<!-- temp = static_cast<uint8_t>(float) -->
<field type="uint8_t[3]" name="mb_temperature"> Main Computer Board Temperature (0-128*C)</field>
<field type="uint8_t[3]" name="eb_temperature"> Egine Computer Board Temperature (0-128*C) </field>
</message>
<message id="147" name="SIMBA_ACTUATOR_CMD">
<description>Direct actuator command (for testing; DO NOT USE IN PRODUCTION).</description>
<field type="uint8_t" name="actuator_id">Actuator ID</field>
<field type="uint8_t" name="value">New actuator value</field>
</message>
</messages>
</mavlink>