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common.xml: add polygon fence variants with altitude #397

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common.xml: add polygon fence variants with altitude #397

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46 changes: 46 additions & 0 deletions message_definitions/v1.0/common.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -1955,6 +1955,52 @@
<param index="6" label="Longitude">Longitude</param>
<param index="7">Reserved</param>
</entry>

<entry value="5005" name="MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION_WITH_ALTITUDES" hasLocation="true" isDestination="false">
<description>Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required. Altitudes supplied.
</description>
<param index="1" label="Vertex Count" minValue="3" increment="1">Polygon vertex count</param>
<param index="2" label="Inclusion Group" minValue="0" increment="1">Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group, must be the same for all points in each polygon</param>
<param index="3" label="Minimum Altitude"></param>
<param index="4" label="Maximum Altitude"></param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude Frames"></param> <!-- (param7&0b11111) bits give frame for mimimum altitude, ((param7>>5)&0b11111) gives frame for maximum altitude -->
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<param index="7" label="Altitude Frames"></param> <!-- (param7&0b11111) bits give frame for mimimum altitude, ((param7>>5)&0b11111) gives frame for maximum altitude -->
<param index="7" label="Altitude Frames"></param> <!-- (param7&0b11111) bits give MAV_FRAME for mimimum altitude, ((param7>>5)&0b11111) gives MAV_FRAME for maximum altitude -->

</entry>
<entry value="5006" name="MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION_WITH_ALTITUDES" hasLocation="true" isDestination="false">
<description>Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
</description>
<param index="1" label="Vertex Count" minValue="3" increment="1">Polygon vertex count</param>
<param index="2">Reserved</param>
<param index="3" label="Minimum Altitude"></param>
<param index="4" label="Maximum Altitude"></param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude Frames"></param> <!-- (param7&0b11111) bits give frame for mimimum altitude, ((param7>>5)&0b11111) gives frame for maximum altitude -->
</entry>
<entry value="5007" name="MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION_WITH_ALTITUDES" hasLocation="true" isDestination="false">
<description>Circular fence area. The vehicle must stay inside this area.
</description>
<param index="1" label="Radius" units="m">Radius.</param>
<param index="2" label="Inclusion Group" minValue="0" increment="1">Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group</param>
<param index="3" label="Minimum Altitude"></param>
<param index="4" label="Maximum Altitude"></param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude Frames"></param> <!-- (param7&0b11111) bits give frame for mimimum altitude, ((param7>>5)&0b11111) gives frame for maximum altitude -->
</entry>
<entry value="5008" name="MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION_WITH_ALTITUDES" hasLocation="true" isDestination="false">
<description>Circular fence area. The vehicle must stay outside this area.
</description>
<param index="1" label="Radius" units="m">Radius.</param>
<param index="2">Reserved</param>
<param index="3" label="Minimum Altitude"></param>
<param index="4" label="Maximum Altitude"></param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude Frames"></param> <!-- (param7&0b11111) bits give frame for mimimum altitude, ((param7>>5)&0b11111) gives frame for maximum altitude -->
</entry>

<entry value="5100" name="MAV_CMD_NAV_RALLY_POINT" hasLocation="true" isDestination="false">
<description>Rally point. You can have multiple rally points defined.
</description>
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