mission.proto

/* Protobuf definitions for defining a mavlink 1.0 mission. */

package mavlink;

enum CoordFrameType {
  FRAME_GLOBAL = 0;
  FRAME_LOCAL_NED = 1;
  FRAME_MISSION = 2;
  FRAME_GLOBAL_RELATIVE_ALT = 3;
  FRAME_LOCAL_ENU = 4;
  FRAME_ENUM_END = 5;
}

enum CommandType {
  CMD_NAV_WAYPOINT = 16;
  CMD_NAV_LOITER_UNLIM = 17;
  CMD_NAV_LOITER_TURNS = 18;
  CMD_NAV_LOITER_TIME = 19;
  CMD_NAV_RETURN_TO_LAUNCH = 20;
  CMD_NAV_LAND = 21;
  CMD_NAV_TAKEOFF = 22;
  CMD_NAV_ROI = 80;
  CMD_NAV_PATHPLANNING = 81;
  CMD_NAV_LAST = 95;
  CMD_CONDITION_DELAY = 112;
  CMD_CONDITION_CHANGE_ALT = 113;
  CMD_CONDITION_DISTANCE = 114;
  CMD_CONDITION_YAW = 115;
  CMD_CONDITION_LAST = 159;
  CMD_DO_SET_MODE = 176;
  CMD_DO_JUMP = 177;
  CMD_DO_CHANGE_SPEED = 178;
  CMD_DO_SET_HOME = 179;
  CMD_DO_SET_PARAMETER = 180;
  CMD_DO_SET_RELAY = 181;
  CMD_DO_REPEAT_RELAY = 182;
  CMD_DO_SET_SERVO = 183;
  CMD_DO_REPEAT_SERVO = 184;
  CMD_DO_CONTROL_VIDEO = 200;
  CMD_DO_DIGICAM_CONFIGURE = 202;
  CMD_DO_DIGICAM_CONTROL = 203;
  CMD_DO_MOUNT_CONFIGURE = 204;
  CMD_DO_MOUNT_CONTROL = 205;
  CMD_DO_LAST = 240;
  CMD_PREFLIGHT_CALIBRATION = 241;
  CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242;
  CMD_PREFLIGHT_STORAGE = 245;
  CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246;
  CMD_OVERRIDE_GOTO = 252;
  CMD_MISSION_START = 300;
  CMD_COMPONENT_ARM_DISARM = 400;
}

message Waypoint {
  optional int32 seq = 1;
  optional bool current = 2;
  required CommandType command = 3;
  optional CoordFrameType frame = 4;
  optional bool autocontinue = 5;
  optional float param1 = 6;
  optional float param2 = 7;
  optional float param3 = 8;
  optional float param4 = 9;
  optional float x = 10;
  optional float y = 11;
  optional float z = 12;
}

message Mission {
  optional Waypoint defaults = 1;
  repeated Waypoint waypoint = 2;
}