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ardrone3.xml
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ardrone3.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!--
Copyright (C) 2014 Parrot SA
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in
the documentation and/or other materials provided with the
distribution.
* Neither the name of Parrot nor the names
of its contributors may be used to endorse or promote products
derived from this software without specific prior written
permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
SUCH DAMAGE.
-->
<project name="ardrone3" id="1">
All ARDrone3-only commands
<class name="Piloting" id="0">
All commands related to piloting the drone
<cmd name="TakeOff" id="1">
<comment
title="Take off"
desc="Ask the drone to take off.\n
On the fixed wings (such as Disco): not used except to cancel a land."
support="0901;090c;090e;0914;0919"
result="On the quadcopters: the drone takes off if its [FlyingState](#1-4-1) was landed.\n
On the fixed wings, the landing process is aborted if the [FlyingState](#1-4-1) was landing.\n
Then, event [FlyingState](#1-4-1) is triggered."/>
<expectations>
<immediate>
#1-4-1(state: takingoff)
</immediate>
</expectations>
</cmd>
<cmd name="PCMD" id="2" buffer="NON_ACK">
<comment
title="Move the drone"
desc="Move the drone.\n
The libARController is sending the command each 50ms.\n\n
**Please note that you should call setPilotingPCMD and not sendPilotingPCMD because the libARController is handling the periodicity and the buffer on which it is sent.**"
support="0901;090c;090e;0914;0919"
result="The drone moves! Yaaaaay!\n
Event [SpeedChanged](#1-4-5), [AttitudeChanged](#1-4-6) and [GpsLocationChanged](#1-4-9) (only if gps of the drone has fixed) are triggered."/>
<arg name="flag" type="u8">
Boolean flag: 1 if the roll and pitch values should be taken in consideration. 0 otherwise
</arg>
<arg name="roll" type="i8">
Roll angle as signed percentage.
On copters:
Roll angle expressed as signed percentage of the max pitch/roll setting, in range [-100, 100]
-100 corresponds to a roll angle of max pitch/roll to the left (drone will fly left)
100 corresponds to a roll angle of max pitch/roll to the right (drone will fly right)
This value may be clamped if necessary, in order to respect the maximum supported physical tilt of the copter.
On fixed wings:
Roll angle expressed as signed percentage of the physical max roll of the wing, in range [-100, 100]
Negative value makes the plane fly to the left
Positive value makes the plane fly to the right
</arg>
<arg name="pitch" type="i8">
Pitch angle as signed percentage.
On copters:
Expressed as signed percentage of the max pitch/roll setting, in range [-100, 100]
-100 corresponds to a pitch angle of max pitch/roll towards sky (drone will fly backward)
100 corresponds to a pitch angle of max pitch/roll towards ground (drone will fly forward)
This value may be clamped if necessary, in order to respect the maximum supported physical tilt of the copter.
On fixed wings:
Expressed as signed percentage of the physical max pitch of the wing, in range [-100, 100]
Negative value makes the plane fly in direction of the sky
Positive value makes the plane fly in direction of the ground
</arg>
<arg name="yaw" type="i8">
Yaw rotation speed as signed percentage.
On copters:
Expressed as signed percentage of the max yaw rotation speed setting, in range [-100, 100].
-100 corresponds to a counter-clockwise rotation of max yaw rotation speed
100 corresponds to a clockwise rotation of max yaw rotation speed
This value may be clamped if necessary, in order to respect the maximum supported physical tilt of the copter.
On fixed wings:
Giving more than a fixed value (75% for the moment) triggers a circle.
Positive value will trigger a clockwise circling
Negative value will trigger a counter-clockwise circling
</arg>
<arg name="gaz" type="i8">
Throttle as signed percentage.
On copters:
Expressed as signed percentage of the max vertical speed setting, in range [-100, 100]
-100 corresponds to a max vertical speed towards ground
100 corresponds to a max vertical speed towards sky
This value may be clamped if necessary, in order to respect the maximum supported physical tilt of the copter.
During the landing phase, putting some positive gaz will cancel the land.
On fixed wings:
Expressed as signed percentage of the physical max throttle, in range [-100, 100]
Negative value makes the plane fly slower
Positive value makes the plane fly faster
</arg>
<arg name="timestampAndSeqNum" type="u32">
Command timestamp in milliseconds (low 24 bits) + command sequence number (high 8 bits) [0;255].
</arg>
</cmd>
<cmd name="Landing" id="3">
<comment
title="Land"
desc="Land.\n
Please note that on copters, if you put some positive gaz (in the [PilotingCommand](#1-0-2)) during the landing, it will cancel it."
support="0901;090c;090e;0914;0919"
result="On the copters, the drone lands if its [FlyingState](#1-4-1) was taking off, hovering or flying.\n
On the fixed wings, the drone lands if its [FlyingState](#1-4-1) was hovering or flying.\n
Then, event [FlyingState](#1-4-1) is triggered."/>
<expectations>
<immediate>
#1-4-1(state: landing)
</immediate>
</expectations>
</cmd>
<cmd name="Emergency" id="4" buffer="HIGH_PRIO" timeout="RETRY">
<comment
title="Cut out the motors"
desc="Cut out the motors.\n
This cuts immediatly the motors. The drone will fall.\n
This command is sent on a dedicated high priority buffer which will infinitely retry to send it if the command is not delivered."
support="0901;090c;090e;0914;0919"
result="The drone immediatly cuts off its motors.\n
Then, event [FlyingState](#1-4-1) is triggered."/>
<expectations>
<immediate>
#1-4-1(state: emergency)
</immediate>
</expectations>
</cmd>
<cmd name="NavigateHome" id="5">
<comment
title="Return home"
desc="Return home.\n
Ask the drone to fly to its [HomePosition](#1-24-0).\n
The availability of the return home can be get from [ReturnHomeState](#1-4-3).\n
Please note that the drone will wait to be hovering to start its return home. This means that it will wait to have a [flag](#1-0-2) set at 0."
support="0901;090c;090e;0914;0919"
result="The drone will fly back to its home position.\n
Then, event [ReturnHomeState](#1-4-3) is triggered.\n
You can get a state pending if the drone is not ready to start its return home process but will do it as soon as it is possible."/>
<expectations>
<immediate>
#1-4-3(state: inProgress, reason: userRequest)
|#1-4-3(state: pending, reason: userRequest)
|#1-4-3(state: available, reason: stopped)
</immediate>
</expectations>
<arg name="start" type="u8">
1 to start the navigate home, 0 to stop it
</arg>
</cmd>
<cmd name="moveBy" id="7">
<comment
title="Move the drone to a relative position"
desc="Move the drone to a relative position and rotate heading by a given angle.\n
Moves are relative to the current drone orientation, (drone's reference).\n
Also note that the given rotation will not modify the move (i.e. moves are always rectilinear)."
support="0901:3.3.0;090c:3.3.0;0914;0919"
result="The drone will move of the given offsets.\n
Then, event [RelativeMoveEnded](#1-34-0) is triggered.\n
If you send a second relative move command, the drone will trigger a [RelativeMoveEnded](#1-34-0) with the offsets it managed to do before this new command and the value of error set to interrupted."/>
<expectations>
<immediate>
#1-34-0
</immediate>
</expectations>
<arg name="dX" type="float">
Wanted displacement along the front axis [m]
</arg>
<arg name="dY" type="float">
Wanted displacement along the right axis [m]
</arg>
<arg name="dZ" type="float">
Wanted displacement along the down axis [m]
</arg>
<arg name="dPsi" type="float">
Wanted rotation of heading [rad]
</arg>
</cmd>
<cmd name="UserTakeOff" id="8">
<comment
title="Prepare the drone to take off"
desc="Prepare the drone to take off.\n
On copters: initiates the thrown takeoff. Note that the drone will do the thrown take off
even if it is steady.\n
On fixed wings: initiates the take off process on the fixed wings.\n\n
Setting the state to 0 will cancel the preparation. You can cancel it before that the drone takes off."
support="090e;090c:4.3.0;0914;0919"
result="The drone will arm its motors if not already armed.\n
Then, event [FlyingState](#1-4-1) is triggered with state set at motor ramping.\n
Then, event [FlyingState](#1-4-1) is triggered with state set at userTakeOff.\n
Then user can throw the drone to make it take off."/>
<expectations>
<immediate>
#1-4-1
</immediate>
</expectations>
<arg name="state" type="u8">
State of user take off mode
- 1 to enter in user take off.
- 0 to exit from user take off.
</arg>
</cmd>
<cmd name="Circle" id="9">
<comment
title="Circle"
desc="Make the fixed wing circle.\n
The circle will use the [CirclingAltitude](#1-6-14) and the [CirclingRadius](#1-6-13)"
support="090e"
result="The fixed wing will circle in the given direction.\n
Then, event [FlyingState](#1-4-1) is triggered with state set at hovering."/>
<expectations>
<immediate>
#1-4-1(state: hovering)
</immediate>
</expectations>
<arg name="direction" type="enum">
The circling direction
<enum name="CW">
Circling ClockWise
</enum>
<enum name="CCW">
Circling Counter ClockWise
</enum>
<enum name="default">
Use drone default Circling direction set by CirclingDirection cmd
</enum>
</arg>
</cmd>
<cmd name="moveTo" id="10">
<comment
title="Move to a location"
desc="Move the drone to a specified location.\n
If a new command moveTo is sent, the drone will immediatly run it (no cancel will be issued).\n
If a [CancelMoveTo](#1-0-11) command is sent, the moveTo is stopped.\n
During the moveTo, all pitch, roll and gaz values of the piloting command
will be ignored by the drone.\n
However, the yaw value can be used."
support="090c:4.3.0;0914;0919"
result="Event [MovingTo](#1-4-12) is triggered with state running.
Then, the drone will move to the given location.\n
Then, event [MoveToChanged](#1-4-12) is triggered with state succeed."/>
<expectations>
<immediate>
#1-4-12(latitude: this.latitude, longitude: this.longitude, altitude: this.altitude, orientation_mode: this.orientation_mode, status: RUNNING)
</immediate>
</expectations>
<arg name="latitude" type="double">
Latitude of the location (in degrees) to reach
</arg>
<arg name="longitude" type="double">
Longitude of the location (in degrees) to reach
</arg>
<arg name="altitude" type="double">
Altitude above take off point (in m) to reach
</arg>
<arg name="orientation_mode" type="enum">
Orientation mode of the move to
<enum name="NONE">
The drone won't change its orientation
</enum>
<enum name="TO_TARGET">
The drone will make a rotation to look in direction of the given location
</enum>
<enum name="HEADING_START">
The drone will orientate itself to the given heading before moving to the location
</enum>
<enum name="HEADING_DURING">
The drone will orientate itself to the given heading while moving to the location
</enum>
</arg>
<arg name="heading" type="float">
Heading (relative to the North in degrees).
This value is only used if the orientation mode is HEADING_START or HEADING_DURING
</arg>
</cmd>
<cmd name="CancelMoveTo" id="11">
<comment
title="Cancel the moveTo"
desc="Cancel the current moveTo.\n
If there is no current moveTo, this command has no effect."
support="090c:4.3.0"
result="Event [MoveToChanged](#1-4-12) is triggered with state canceled."/>
<expectations>
<immediate>
#1-4-12(status: CANCELED)
</immediate>
</expectations>
</cmd>
<cmd name="StartPilotedPOI" id="12" deprecated="true">
<comment
title="Start a piloted POI"
desc="Start a piloted Point Of Interest.\n
During a piloted POI, the drone will always look at the given POI but can be piloted normally.
However, yaw value is ignored. Camera tilt and pan command is also ignored.\n
Ignored if [PilotedPOI](#1-4-14) state is UNAVAILABLE."
support="090c:4.3.0"
result="If the drone is hovering, event [PilotedPOI](#1-4-14) is triggered with state RUNNING.
If the drone is not hovering, event [PilotedPOI](#1-4-14) is triggered with state PENDING,
waiting to hover. When the drone hovers, the state will change to RUNNING.
If the drone does not hover for a given time, piloted POI is canceled by the drone and state
will change to AVAILABLE.
Then, the drone will look at the given location."/>
<expectations>
<immediate>
#1-4-14(latitude: this.latitude, longitude: this.longitude, altitude: this.altitude, status: RUNNING)
|#1-4-14(latitude: this.latitude, longitude: this.longitude, altitude: this.altitude, status: PENDING)
</immediate>
</expectations>
<arg name="latitude" type="double">
Latitude of the location (in degrees) to look at
</arg>
<arg name="longitude" type="double">
Longitude of the location (in degrees) to look at
</arg>
<arg name="altitude" type="double">
Altitude above take off point (in m) to look at
</arg>
</cmd>
<cmd name="StartPilotedPOIV2" id="15">
<comment
title="Start a piloted POI"
desc="Start a piloted Point Of Interest.\n
During a piloted POI, the drone always points towards the given POI but can be piloted normally.
However, yaw value is ignored. The gimbal behavior depends on the mode argument:\n
- in locked gimbal mode, the gimbal always looks at the POI, and gimbal control command is ignored by
the drone,\n
- in free gimbal mode, the gimbal initially looks at the POI, and is then freely controllable by the
gimbal command.\n
Ignored if [PilotedPOIV2](#1-4-22) state is UNAVAILABLE."
support="0914:1.6.3;0919:1.6.3"
result="If the drone is hovering, event [PilotedPOIV2](#1-4-22) is triggered with state RUNNING.
If the drone is not hovering, event [PilotedPOIV2](#1-4-22) is triggered with state PENDING,
waiting to hover. When the drone hovers, the state changes to RUNNING.
If the drone does not hover for a given time, piloted POI is canceled by the drone and state
changes to AVAILABLE.
Then, the drone looks at the given location."/>
<expectations>
<immediate>
#1-4-22(latitude: this.latitude, longitude: this.longitude, altitude: this.altitude, mode: this.mode, status: RUNNING)
|#1-4-22(latitude: this.latitude, longitude: this.longitude, altitude: this.altitude, mode: this.mode, status: PENDING)
</immediate>
</expectations>
<arg name="latitude" type="double">
Latitude of the location (in degrees) to look at
</arg>
<arg name="longitude" type="double">
Longitude of the location (in degrees) to look at
</arg>
<arg name="altitude" type="double">
Altitude above take off point (in m) to look at
</arg>
<arg name="mode" type="enum">
POI mode
<enum name="locked_gimbal">
Gimbal is locked on the POI
</enum>
<enum name="locked_once_gimbal">
Gimbal is locked on the POI once, then it is freely controllable
</enum>
<enum name="free_gimbal">
Gimbal is freely controllable
</enum>
</arg>
</cmd>
<cmd name="StopPilotedPOI" id="13">
<comment
title="Stop the piloted POI"
desc="Stop the piloted Point Of Interest (with or without gimbal control).\n
If [PilotedPOI](#1-4-14) or [PilotedPOIV2](#1-4-22) state is RUNNING or PENDING, stop it."
support="090c:4.3.0;0914;0919"
result="Event [PilotedPOI](#1-4-14) or [PilotedPOIV2](#1-4-22) is triggered with state AVAILABLE."/>
<expectations>
<immediate>
#1-4-14(status: AVAILABLE)
|#1-4-22(status: AVAILABLE)
</immediate>
</expectations>
</cmd>
<cmd name="CancelMoveBy" id="14">
<comment
title="Cancel the relative move"
desc="Cancel the current relative move.\n
If there is no current relative move, this command has no effect."
result="Event [RelativeMoveChanged](#1-4-16) is triggered with state canceled."/>
</cmd>
<cmd name="SmartTakeOffLand" id="16">
<comment
title="Take off or land"
desc="Ask the drone to take off or land."
support="091a"
result="The drone takes off if its [FlyingState](#1-4-1) was landed.
The drone lands if its [FlyingState](#1-4-1) was taking off, hovering or flying.
Then, event [FlyingState](#1-4-1) is triggered."/>
<expectations>
<immediate>
#1-4-1(state: takingoff)
|#1-4-1(state: landing)
</immediate>
</expectations>
</cmd>
</class>
<class name="Animations" id="5">
Animation commands
<cmd name="Flip" id="0">
<comment
title="Make a flip"
desc="Make a flip."
support="0901;090c"
result="The drone will make a flip if it has enough battery."/>
<expectations>
<immediate>
#1-4-1(state: flying)
</immediate>
</expectations>
<arg name="direction" type="enum">
Direction for the flip
<enum name="front">
Flip direction front
</enum>
<enum name="back">
Flip direction back
</enum>
<enum name="right">
Flip direction right
</enum>
<enum name="left">
Flip direction left
</enum>
</arg>
</cmd>
</class>
<class name="Camera" id="1" deprecated="true">
Ask the drone to move camera
<cmd name="Orientation" id="0" buffer="NON_ACK" deprecated="true">
<comment
title="Move the camera"
desc="Move the camera.\n
You can get min and max values for tilt and pan using [CameraInfo](#0-15-0)."
support="0901;090c;090e"
result="The drone moves its camera.\n
Then, event [CameraOrientation](#1-25-0) is triggered."/>
<arg name="tilt" type="i8">
Tilt camera consign for the drone (in degree)
The value is saturated by the drone.
Saturation value is sent by thre drone through CameraSettingsChanged command.
</arg>
<arg name="pan" type="i8">
Pan camera consign for the drone (in degree)
The value is saturated by the drone.
Saturation value is sent by thre drone through CameraSettingsChanged command.
</arg>
</cmd>
<cmd name="OrientationV2" id="1" buffer="NON_ACK" deprecated="true">
<comment
title="Move the camera"
desc="Move the camera.\n
You can get min and max values for tilt and pan using [CameraInfo](#0-15-0)."
support="0901;090c;090e"
result="The drone moves its camera.\n
Then, event [CameraOrientationV2](#1-25-2) is triggered."/>
<arg name="tilt" type="float">
Tilt camera consign for the drone (in degree)
The value is saturated by the drone.
Saturation value is sent by thre drone through CameraSettingsChanged command.
</arg>
<arg name="pan" type="float">
Pan camera consign for the drone (in degree)
The value is saturated by the drone.
Saturation value is sent by thre drone through CameraSettingsChanged command.
</arg>
</cmd>
<cmd name="Velocity" id="2" buffer="NON_ACK" deprecated="true">
<comment
title="Move the camera using velocity"
desc="Move the camera given velocity consign.\n
You can get min and max values for tilt and pan using [CameraVelocityRange](#1-25-4)."
support="0901;090c;090e"
result="The drone moves its camera.\n
Then, event [CameraOrientationV2](#1-25-2) is triggered."/>
<arg name="tilt" type="float">
Tilt camera velocity consign [deg/s]
Negative tilt velocity move camera to bottom
Positive tilt velocity move camera to top
</arg>
<arg name="pan" type="float">
Pan camera velocity consign [deg/s]
Negative pan velocity move camera to left
Positive pan velocity move camera to right
</arg>
</cmd>
</class>
<class name="MediaRecord" id="7">
Media recording management
<cmd name="Picture" id="0" deprecated="true">
<comment
title="Take a picture"
desc="Take a picture."/>
<arg name="mass_storage_id" type="u8">
Mass storage id to take picture
</arg>
</cmd>
<cmd name="Video" id="1" deprecated="true">
<comment
title="Record a video"
desc="Record a video."/>
<arg name="record" type="enum">
Command to record video
<enum name="stop">
Stop the video recording
</enum>
<enum name="start">
Start the video recording
</enum>
</arg>
<arg name="mass_storage_id" type="u8">
Mass storage id to record
</arg>
</cmd>
<cmd name="PictureV2" id="2">
<comment
title="Take a picture"
desc="Take a picture.\n
The type of picture taken is related to the picture setting.\n
You can set the picture format by sending the command [SetPictureFormat](#1-19-0). You can also get the current picture format with [PictureFormat](#1-20-0).\n
Please note that the time required to take the picture is highly related to this format.\n\n
You can check if the picture taking is available with [PictureState](#1-8-2).\n
Also, please note that if your picture format is different from snapshot, picture taking will stop video recording (it will restart after that the picture has been taken)."
support="0901:2.0.1;090c;090e"
result="Event [PictureState](#1-8-2) will be triggered with a state busy.\n
The drone will take a picture.\n
Then, when picture has been taken, notification [PictureEvent](#1-3-0) is triggered.\n
And normally [PictureState](#1-8-2) will be triggered with a state ready."/>
<expectations>
<immediate>
#1-8-2(state: busy, error: ok)
</immediate>
</expectations>
</cmd>
<cmd name="VideoV2" id="3">
<comment
title="Record a video"
desc="Record a video (or start timelapse).\n
You can check if the video recording is available with [VideoState](#1-8-3).\n
This command can start a video (obvious huh?), but also a timelapse if the timelapse mode is set. You can check if the timelapse mode is set with the event [TimelapseMode](#1-20-4).\n
Also, please note that if your picture format is different from snapshot, picture taking will stop video recording (it will restart after the picture has been taken)."
support="0901:2.0.1;090c;090e"
result="The drone will begin or stop to record the video (or timelapse).\n
Then, event [VideoState](#1-8-3) will be triggered. Also, notification [VideoEvent](#1-3-1) is triggered."/>
<expectations>
<immediate>
#1-8-3(state: this.record, error: ok)
</immediate>
</expectations>
<arg name="record" type="enum">
Command to record video
<enum name="stop">
Stop the video recording
</enum>
<enum name="start">
Start the video recording
</enum>
</arg>
</cmd>
</class>
<class name="MediaRecordState" id="8">
State of media recording
<cmd name="PictureStateChanged" id="0" deprecated="true">
<comment
title="Picture state"
desc="Picture state."/>
<arg name="state" type="u8">
1 if picture has been taken, 0 otherwise
</arg>
<arg name="mass_storage_id" type="u8">
Mass storage id where the picture was recorded
</arg>
</cmd>
<cmd name="VideoStateChanged" id="1" deprecated="true">
<comment
title="Video record state"
desc="Picture record state."/>
<arg name="state" type="enum">
State of video
<enum name="stopped">
Video was stopped
</enum>
<enum name="started">
Video was started
</enum>
<enum name="failed">
Video was failed
</enum>
<enum name="autostopped">
Video was auto stopped
</enum>
</arg>
<arg name="mass_storage_id" type="u8">
Mass storage id where the video was recorded
</arg>
</cmd>
<cmd name="PictureStateChangedV2" id="2">
<comment
title="Picture state"
desc="Picture state."
support="0901:2.0.1;090c;090e"
triggered="by [TakePicture](#1-7-2) or by a change in the picture state"/>
<arg name="state" type="enum">
State of device picture recording
<enum name="ready">
The picture recording is ready
</enum>
<enum name="busy">
The picture recording is busy
</enum>
<enum name="notAvailable">
The picture recording is not available
</enum>
</arg>
<arg name="error" type="enum">
Error to explain the state
<enum name="ok">
No Error
</enum>
<enum name="unknown">
Unknown generic error
</enum>
<enum name="camera_ko">
Picture camera is out of order
</enum>
<enum name="memoryFull">
Memory full ; cannot save one additional picture
</enum>
<enum name="lowBattery">
Battery is too low to start/keep recording.
</enum>
</arg>
</cmd>
<cmd name="VideoStateChangedV2" id="3">
<comment
title="Video record state"
desc="Video record state."
support="0901:2.0.1;090c;090e"
triggered="by [RecordVideo](#1-7-3) or by a change in the video state"/>
<arg name="state" type="enum">
State of device video recording
<enum name="stopped">
Video is stopped
</enum>
<enum name="started">
Video is started
</enum>
<enum name="notAvailable">
The video recording is not available
</enum>
</arg>
<arg name="error" type="enum">
Error to explain the state
<enum name="ok">
No Error
</enum>
<enum name="unknown">
Unknown generic error
</enum>
<enum name="camera_ko">
Video camera is out of order
</enum>
<enum name="memoryFull">
Memory full ; cannot save one additional video
</enum>
<enum name="lowBattery">
Battery is too low to start/keep recording.
</enum>
</arg>
</cmd>
<cmd name="VideoResolutionState" id="4" deprecated="true">
<comment
title="Video resolution"
desc="Video resolution.\n
Informs about streaming and recording video resolutions.\n
Note that this is only an indication about what the resolution should be. To know the real resolution, you should get it from the frame."
support="none"
triggered="when the resolution changes."/>
<arg name="streaming" type="enum">
Streaming resolution
<enum name="res360p">
360p resolution.
</enum>
<enum name="res480p">
480p resolution.
</enum>
<enum name="res720p">
720p resolution.
</enum>
<enum name="res1080p">
1080p resolution.
</enum>
</arg>
<arg name="recording" type="enum">
Recording resolution
<enum name="res360p">
360p resolution.
</enum>
<enum name="res480p">
480p resolution.
</enum>
<enum name="res720p">
720p resolution.
</enum>
<enum name="res1080p">
1080p resolution.
</enum>
</arg>
</cmd>
</class>
<class name="MediaRecordEvent" id="3">
Events of media recording
<cmd name="PictureEventChanged" id="0" content="NOTIFICATION">
<comment
title="Picture taken"
desc="Picture taken.\n\n
**This event is a notification, you can't retrieve it in the cache of the device controller.**"
support="0901:2.0.1;090c;090e"
triggered="after a [TakePicture](#1-7-2), when the picture has been taken (or it has failed)."/>
<arg name="event" type="enum">
Last event of picture recording
<enum name="taken">
Picture taken and saved
</enum>
<enum name="failed">
Picture failed
</enum>
</arg>
<arg name="error" type="enum">
Error to explain the event
<enum name="ok">
No Error
</enum>
<enum name="unknown">
Unknown generic error ; only when state is failed
</enum>
<enum name="busy">
Picture recording is busy ; only when state is failed
</enum>
<enum name="notAvailable">
Picture recording not available ; only when state is failed
</enum>
<enum name="memoryFull">
Memory full ; only when state is failed
</enum>
<enum name="lowBattery">
Battery is too low to record.
</enum>
</arg>
</cmd>
<cmd name="VideoEventChanged" id="1" content="NOTIFICATION">
<comment
title="Video record notification"
desc="Video record notification.\n\n
**This event is a notification, you can't retrieve it in the cache of the device controller.**"
support="0901:2.0.1;090c;090e"
triggered="by [RecordVideo](#1-7-3) or a change in the video state."/>
<arg name="event" type="enum">
Event of video recording
<enum name="start">
Video start
</enum>
<enum name="stop">
Video stop and saved
</enum>
<enum name="failed">
Video failed
</enum>
</arg>
<arg name="error" type="enum">
Error to explain the event
<enum name="ok">
No Error
</enum>
<enum name="unknown">
Unknown generic error ; only when state is failed
</enum>
<enum name="busy">
Video recording is busy ; only when state is failed
</enum>
<enum name="notAvailable">
Video recording not available ; only when state is failed
</enum>
<enum name="memoryFull">
Memory full
</enum>
<enum name="lowBattery">
Battery is too low to record.
</enum>
<enum name="autoStopped">
Video was auto stopped
</enum>
</arg>
</cmd>
</class>
<class name="PilotingState" id="4">
State from drone
<cmd name="FlyingStateChanged" id="1">
<comment
title="Flying state"
desc="Flying state."
support="0901;090c;090e;0914;0919"
triggered="when the flying state changes."/>
<arg name="state" type="enum">
Drone flying state
<enum name="landed">
Landed state
</enum>
<enum name="takingoff">
Taking off state
</enum>
<enum name="hovering">
Hovering / Circling (for fixed wings) state
</enum>
<enum name="flying">
Flying state
</enum>
<enum name="landing">
Landing state
</enum>
<enum name="emergency">
Emergency state
</enum>
<enum name="usertakeoff">
User take off state. Waiting for user action to take off.
</enum>
<enum name="motor_ramping">
Motor ramping state.
</enum>
<enum name="emergency_landing">
Emergency landing state.
Drone autopilot has detected defective sensor(s).
Only Yaw argument in PCMD is taken into account.
All others flying commands are ignored.
</enum>
</arg>
</cmd>
<cmd name="AlertStateChanged" id="2" deprecated="true">
<comment
title="Alert state"
desc="Alert state."
support="0901;090c;090e;0914;0919"
triggered="when an alert happens on the drone."/>
<arg name="state" type="enum">
Drone alert state
<enum name="none">
No alert
</enum>
<enum name="user">
User emergency alert
</enum>
<enum name="cut_out">
Cut out alert
</enum>
<enum name="critical_battery">
Critical battery alert
</enum>
<enum name="low_battery">
Low battery alert
</enum>
<enum name="too_much_angle">
The angle of the drone is too high
</enum>
<enum name="almost_empty_battery">
Almost empty battery alert
</enum>
<enum name="magneto_pertubation">
Magnetometer is disturbed by a magnetic element
</enum>
<enum name="magneto_low_earth_field">
Local terrestrial magnetic field is too weak
</enum>
</arg>
</cmd>
<cmd name="NavigateHomeStateChanged" id="3" deprecated="true">
<comment
title="Return home state"
desc="Return home state.\n
Availability is related to gps fix, magnetometer calibration."
support="0901;090c;090e;0914;0919"
triggered="by [ReturnHome](#1-0-5) or when the state of the return home changes."/>
<arg name="state" type="enum">
State of navigate home
<enum name="available">
Navigate home is available
</enum>
<enum name="inProgress">
Navigate home is in progress
</enum>
<enum name="unavailable">
Navigate home is not available
</enum>
<enum name="pending">
Navigate home has been received, but its process is pending
</enum>
</arg>
<arg name="reason" type="enum">
Reason of the state
<enum name="userRequest">
User requested a navigate home (available->inProgress)
</enum>
<enum name="connectionLost">
Connection between controller and product lost (available->inProgress)
</enum>
<enum name="lowBattery">
Low battery occurred (available->inProgress)
</enum>
<enum name="finished">
Navigate home is finished (inProgress->available)
</enum>
<enum name="stopped">
Navigate home has been stopped (inProgress->available)
</enum>
<enum name="disabled">
Navigate home disabled by product (inProgress->unavailable or available->unavailable)
</enum>
<enum name="enabled">
Navigate home enabled by product (unavailable->available)
</enum>
<enum name="flightplan">
Return to home during a flightplan (available->in_progress)
</enum>
<enum name="icing">
Return to home triggered by propeller icing event (available->in_progress)
</enum>
</arg>
</cmd>
<cmd name="PositionChanged" id="4" buffer="NON_ACK" deprecated="true">
<comment
title="Drone's position changed"
desc="Drone's position changed."
support="0901;090c;090e;0914;0919"
triggered="regularly."/>
<arg name="latitude" type="double">
Latitude position in decimal degrees (500.0 if not available)
</arg>
<arg name="longitude" type="double">
Longitude position in decimal degrees (500.0 if not available)
</arg>
<arg name="altitude" type="double">
Altitude in meters (from GPS)
</arg>
</cmd>
<cmd name="SpeedChanged" id="5" buffer="NON_ACK">
<comment
title="Drone's speed changed"
desc="Drone's speed changed.\n
Expressed in the NED referential (North-East-Down)."
support="0901;090c;090e;0914;0919"
triggered="regularly."/>
<arg name="speedX" type="float">
Speed relative to the North (when drone moves to the north, speed is > 0) (in m/s)
</arg>
<arg name="speedY" type="float">
Speed relative to the East (when drone moves to the east, speed is > 0) (in m/s)
</arg>
<arg name="speedZ" type="float">
Speed on the z axis (when drone moves down, speed is > 0) (in m/s)
</arg>
</cmd>
<cmd name="AttitudeChanged" id="6" buffer="NON_ACK">
<comment
title="Drone's attitude changed"
desc="Drone's attitude changed."
support="0901;090c;090e;0914;0919"
triggered="regularly."/>
<arg name="roll" type="float">
roll value (in radian)
</arg>
<arg name="pitch" type="float">
Pitch value (in radian)
</arg>
<arg name="yaw" type="float">
Yaw value (in radian)
</arg>