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mcbebop/arsdk-xml/common.xml
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rsp2k 40814040a2 Vendor Parrot ARSDK protocol definitions 
Bebop-era snapshot of common.xml and ardrone3.xml (BSD-3-Clause, Parrot SA),
with pyparrot's <myclass> rename reverted to Parrot's <class>. Provenance and
the comparison against upstream master are in arsdk-xml/PROVENANCE.md.
2026-10-01 23:50:54 -06:00

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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
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
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-->
<project name="common" id="0">
All common commands shared between all projects
<class name="Network" id="0">
Network related commands
<cmd name="Disconnect" id="0" deprecated="true">
<comment
title="Signals the remote that the host will disconnect"
desc="Signals the remote that the host will disconnect.\n"
support="none"
result="None"/>
</cmd>
</class>
<class name="NetworkEvent" id="1">
Network Event from product
<cmd name="Disconnection" id="0" content="NOTIFICATION">
<comment
title="Drone will disconnect"
desc="Drone will disconnect.\n
This event is mainly triggered when the user presses on the power button of the product.\n\n
**This event is a notification, you can't retrieve it in the cache of the device controller.**"
support="0901;090c"
triggered="mainly when the user presses the power button of the drone."/>
<arg name="cause" type="enum">
Cause of the disconnection of the product
<enum name="off_button">
The button off has been pressed
</enum>
<enum name="unknown">
Unknown generic cause
</enum>
<enum name="reset_factory">
The reset factory procedure has been requested
</enum>
</arg>
</cmd>
</class>
<class name="Settings" id="2">
Settings commands
<cmd name="AllSettings" id="0" timeout="RETRY">
<comment
title="Ask for all settings"
desc="Ask for all settings.\n\n
**Please note that you should not send this command if you are using the\n
libARController API as this library is handling the connection process for you.**"
support="drones"
result="The product will trigger all settings events (such as [CameraSettings](#0-15-0), or product specific settings as the [MaxAltitude](#1-6-0) for the Bebop).\n
Then, it will trigger [AllSettingsEnd](#0-3-0)."/>
<expectations>
<immediate>
#0-3-0
</immediate>
</expectations>
</cmd>
<cmd name="Reset" id="1">
<comment
title="Reset all settings"
desc="Reset all settings."
support="drones"
result="It will trigger [ResetChanged](#0-3-1).\n
Then, the product will trigger all settings events (such as [CameraSettings](#0-15-0), or product specific settings as the [MaxAltitude](#1-6-0) for the Bebop) with factory values."/>
<expectations>
<immediate>
#0-3-1
</immediate>
</expectations>
</cmd>
<cmd name="ProductName" id="2">
<comment
title="Set product name"
desc="Set the product name.\n
It also sets the name of the SSID for Wifi products and advertisement name for BLE products (changed after a reboot of the product)."
support="drones"
result="Name is changed.\n
Then, it will trigger [NameChanged](#0-3-2)."/>
<expectations>
<immediate>
#0-3-2(name: this.name)
</immediate>
</expectations>
<arg name="name" type="string">
Product name
</arg>
</cmd>
<cmd name="Country" id="3">
<comment
title="Set the country"
desc="Set the country for Wifi products.\n
This can modify Wifi band and/or channel.\n
**Please note that you might be disconnected from the product after changing the country as it changes Wifi parameters.**"
support="0901;0902;0905;0906;090c;090e"
result="The country is set.\n
Then, it will trigger [CountryChanged](#0-3-6)."/>
<expectations>
<immediate>
#0-3-6(code: this.code)
</immediate>
</expectations>
<arg name="code" type="string">
Country code with ISO 3166 format
</arg>
</cmd>
<cmd name="AutoCountry" id="4">
<comment
title="Enable auto-country"
desc="Enable auto-country.\n
If auto-country is set, the drone will guess its Wifi country by itself by checking other Wifi country around it.\n
**Please note that you might be disconnected from the product after changing the country as it changes Wifi parameters.**"
support="0901;0902;0905;0906;090c;090e"
result="The auto-country of the product is changed.\n
Then, it will trigger [AutoCountryChanged](#0-3-7) and [CountryChanged](#0-3-6)."/>
<expectations>
<immediate>
#0-3-7(automatic: this.automatic)
#0-3-6
</immediate>
</expectations>
<arg name="automatic" type="u8">
Boolean : 0 : Manual / 1 : Auto
</arg>
</cmd>
</class>
<class name="SettingsState" id="3">
Settings state from product
<cmd name="AllSettingsChanged" id="0" timeout="RETRY">
<comment
title="All settings have been sent"
desc="All settings have been sent.\n\n
**Please note that you should not care about this event if you are using the libARController API as this library is handling the connection process for you.**"
support="drones"
triggered="when all settings values have been sent."/>
</cmd>
<cmd name="ResetChanged" id="1">
<comment
title="All settings have been reset"
desc="All settings have been reset."
support="drones"
triggered="by [ResetSettings](#0-2-1)."/>
</cmd>
<cmd name="ProductNameChanged" id="2">
<comment
title="Product name changed"
desc="Product name changed."
support="drones"
triggered="by [SetProductName](#0-2-2)."/>
<arg name="name" type="string">
Product name
</arg>
</cmd>
<cmd name="ProductVersionChanged" id="3">
<comment
title="Product version"
desc="Product version."
support="drones"
triggered="during the connection process."/>
<arg name="software" type="string">
Product software version
</arg>
<arg name="hardware" type="string">
Product hardware version
</arg>
</cmd>
<cmd name="ProductSerialHighChanged" id="4">
<comment
title="Product serial (1st part)"
desc="Product serial (1st part)."
support="drones"
triggered="during the connection process."/>
<arg name="high" type="string">
Serial high number (hexadecimal value)
</arg>
</cmd>
<cmd name="ProductSerialLowChanged" id="5">
<comment
title="Product serial (2nd part)"
desc="Product serial (2nd part)."
support="drones"
triggered="during the connection process."/>
<arg name="low" type="string">
Serial low number (hexadecimal value)
</arg>
</cmd>
<cmd name="CountryChanged" id="6" timeout="RETRY">
<comment
title="Country changed"
desc="Country changed."
support="drones"
triggered="by [SetCountry](#0-2-3)."/>
<arg name="code" type="string">
Country code with ISO 3166 format, empty string means unknown country.
</arg>
</cmd>
<cmd name="AutoCountryChanged" id="7">
<comment
title="Auto-country changed"
desc="Auto-country changed."
support="drones"
triggered="by [SetAutoCountry](#0-2-4)."/>
<arg name="automatic" type="u8">
Boolean : 0 : Manual / 1 : Auto
</arg>
</cmd>
<cmd name="BoardIdChanged" id="8">
<comment
title="Board id"
desc="Board id."
support="drones"
triggered="during the connection process."/>
<arg name="id" type="string">
Board id
</arg>
</cmd>
</class>
<class name="Common" id="4">
Common commands
<cmd name="AllStates" id="0" timeout="RETRY">
<comment
title="Ask for all states"
desc="Ask for all states.\n\n
**Please note that you should not send this command if you are using the\n
libARController API as this library is handling the connection process for you.**"
support="drones"
result="The product will trigger all states events (such as [FlyingState](#1-4-1) for the Bebop).\n
Then, it will trigger [AllStatesEnd](#0-5-0)."/>
<expectations>
<immediate>
#0-5-0
</immediate>
</expectations>
</cmd>
<cmd name="CurrentDate" id="1">
<comment
title="Set the date"
desc="Set the date.\n
This date is taken by the drone as its own date.\n
So medias and other files will be dated from this date\n\n
**Please note that you should not send this command if you are using the\n
libARController API as this library is handling the connection process for you.**"
support="drones"
result="The date of the product is set.\n
Then, it will trigger [DateChanged](#0-5-4)."/>
<expectations>
<immediate>
#0-5-4(date: this.date)
</immediate>
</expectations>
<arg name="date" type="string">
Date with ISO-8601 format
</arg>
</cmd>
<cmd name="CurrentTime" id="2">
<comment
title="Set the time"
desc="Set the time.\n
This time is taken by the drone as its own time.\n
So medias and other files will be dated from this time\n\n
**Please note that you should not send this command if you are using the\n
libARController API as this library is handling the connection process for you.**"
support="drones"
result="The time of the product is set.\n
Then, it will trigger [TimeChanged](#0-5-5)."/>
<expectations>
<immediate>
#0-5-5(time: this.time)
</immediate>
</expectations>
<arg name="time" type="string">
Time with ISO-8601 format
</arg>
</cmd>
<cmd name="Reboot" id="3">
<comment
title="Reboot"
desc="Reboot the product.\n
The product will accept this command only if is not flying."
support="drones"
result="The product will reboot if it can."/>
</cmd>
<cmd name="CurrentDateTime" id="4">
<comment
title="Set the datetime"
desc="Set both the date and the time with only one command.\n
If using this command, do not use [CurrentDate](#0-4-1) and [CurrentTime](#0-4-2) commands.\n
This datetime is taken by the drone as its own datetime.\n
So medias and other files will be dated from this datetime\n\n
**Please note that you should not send this command if you are using the\n
libARController API as this library is handling the connection process for you.**"
support="0914"
result="The datetime of the product is set.\n
Then, it will trigger [CurrentDateTimeChanged](#0-5-15)."/>
<expectations>
<immediate>
#0-5-15(datetime: this.datetime)
</immediate>
</expectations>
<arg name="datetime" type="string">
DateTime with the ISO-8601 complete short format: "%Y%m%dT%H%M%S%z"
</arg>
</cmd>
</class>
<class name="CommonState" id="5">
Common state from product
<cmd name="AllStatesChanged" id="0" timeout="RETRY">
<comment
title="All states have been sent"
desc="All states have been sent.\n\n
**Please note that you should not care about this event if you are using the libARController API as this library is handling the connection process for you.**"
support="drones"
triggered="when all states values have been sent."/>
</cmd>
<cmd name="BatteryStateChanged" id="1" buffer="NON_ACK">
<comment
title="Battery state"
desc="Battery state."
support="drones"
triggered="when the battery level changes."/>
<arg name="percent" type="u8">
Battery percentage
</arg>
</cmd>
<cmd name="MassStorageStateListChanged" id="2" type="MAP_ITEM">
<comment
title="Mass storage state list"
desc="Mass storage state list."
support="drones"
triggered="when a mass storage is inserted or ejected."/>
<arg name="mass_storage_id" type="u8">
Mass storage id (unique)
</arg>
<arg name="name" type="string">
Mass storage name
</arg>
</cmd>
<cmd name="MassStorageInfoStateListChanged" id="3" type="MAP_ITEM">
<comment
title="Mass storage info state list"
desc="Mass storage info state list."
support="drones"
triggered="when a mass storage info changes."/>
<arg name="mass_storage_id" type="u8">
Mass storage state id (unique)
</arg>
<arg name="size" type="u32">
Mass storage size in MBytes
</arg>
<arg name="used_size" type="u32">
Mass storage used size in MBytes
</arg>
<arg name="plugged" type="u8">
Mass storage plugged (1 if mass storage is plugged, otherwise 0)
</arg>
<arg name="full" type="u8">
Mass storage full information state (1 if mass storage full, 0 otherwise).
</arg>
<arg name="internal" type="u8">
Mass storage internal type state (1 if mass storage is internal, 0 otherwise)
</arg>
</cmd>
<cmd name="CurrentDateChanged" id="4">
<comment
title="Date changed"
desc="Date changed.\n
Corresponds to the latest date set on the drone.\n\n
**Please note that you should not care about this event if you are using the libARController API as this library is handling the connection process for you.**"
support="drones"
triggered="by [SetDate](#0-4-1)."/>
<arg name="date" type="string">
Date with ISO-8601 format
</arg>
</cmd>
<cmd name="CurrentTimeChanged" id="5">
<comment
title="Time changed"
desc="Time changed.\n
Corresponds to the latest time set on the drone.\n\n
**Please note that you should not care about this event if you are using the libARController API as this library is handling the connection process for you.**"
support="drones"
triggered="by [SetTime](#0-4-2)."/>
<arg name="time" type="string">
Time with ISO-8601 format
</arg>
</cmd>
<cmd name="MassStorageInfoRemainingListChanged" id="6" type="LIST_ITEM" deprecated="true">
<comment
title="Mass storage remaining data list"
desc="Mass storage remaining data list."/>
<arg name="free_space" type="u32">
Mass storage free space in MBytes
</arg>
<arg name="rec_time" type="u16">
Mass storage record time reamining in minute
</arg>
<arg name="photo_remaining" type="u32">
Mass storage photo remaining
</arg>
</cmd>
<cmd name="WifiSignalChanged" id="7" buffer="NON_ACK">
<comment
title="Rssi changed"
desc="Rssi (Wifi Signal between controller and product) changed."
support="0901;0902;0905;0906;090c;090e"
triggered="regularly."/>
<arg name="rssi" type="i16">
RSSI of the signal between controller and the product (in dbm)
</arg>
</cmd>
<cmd name="SensorsStatesListChanged" id="8" type="MAP_ITEM">
<comment
title="Sensors state list"
desc="Sensors state list."
support="0901:2.0.3;0902;0905;0906;0907;0909;090a;090c;090e"
triggered="at connection and when a sensor state changes."/>
<arg name="sensorName" type="enum">
Sensor name
<enum name="IMU">
Inertial Measurement Unit sensor
</enum>
<enum name="barometer">
Barometer sensor
</enum>
<enum name="ultrasound">
Ultrasonic sensor
</enum>
<enum name="GPS">
GPS sensor
</enum>
<enum name="magnetometer">
Magnetometer sensor
</enum>
<enum name="vertical_camera">
Vertical Camera sensor
</enum>
</arg>
<arg name="sensorState" type="u8">
Sensor state (1 if the sensor is OK, 0 if the sensor is NOT OK)
</arg>
</cmd>
<cmd name="ProductModel" id="9">
<comment
title="Product sub-model"
desc="Product sub-model.\n
This can be used to customize the UI depending on the product."
support="0905;0906;0907;0909"
triggered="at connection."/>
<arg name="model" type="enum">
The Model of the product.
<enum name="RS_TRAVIS">
Travis (RS taxi) model.
</enum>
<enum name="RS_MARS">
Mars (RS space) model
</enum>
<enum name="RS_SWAT">
SWAT (RS SWAT) model
</enum>
<enum name="RS_MCLANE">
Mc Lane (RS police) model
</enum>
<enum name="RS_BLAZE">
Blaze (RS fire) model
</enum>
<enum name="RS_ORAK">
Orak (RS carbon hydrofoil) model
</enum>
<enum name="RS_NEWZ">
New Z (RS wooden hydrofoil) model
</enum>
<enum name="JS_MARSHALL">
Marshall (JS fire) model
</enum>
<enum name="JS_DIESEL">
Diesel (JS SWAT) model
</enum>
<enum name="JS_BUZZ">
Buzz (JS space) model
</enum>
<enum name="JS_MAX">
Max (JS F1) model
</enum>
<enum name="JS_JETT">
Jett (JS flames) model
</enum>
<enum name="JS_TUKTUK">
Tuk-Tuk (JS taxi) model
</enum>
<enum name="SW_BLACK">
Swing black model
</enum>
<enum name="SW_WHITE">
Swing white model
</enum>
</arg>
</cmd>
<cmd name="CountryListKnown" id="10" type="LIST_ITEM" deprecated="true">
<comment
title="Country list"
desc="List of countries known by the drone."/>
<arg name="listFlags" type="u8">
List entry attribute Bitfield.
0x01: First: indicate it's the first element of the list.
0x02: Last: indicate it's the last element of the list.
0x04: Empty: indicate the list is empty (implies First/Last). All other arguments should be ignored.
</arg>
<arg name="countryCodes" type="string">
Following of country code with ISO 3166 format, separated by ";". Be careful of the command size allowed by the network used. If necessary, split the list in several commands.
</arg>
</cmd>
<cmd name="DeprecatedMassStorageContentChanged" id="11" type="MAP_ITEM" deprecated="true">
<comment
title="Mass storage content changed"
desc="Mass storage content changed."/>
<arg name="mass_storage_id" type="u8">
Mass storage id (unique)
</arg>
<arg name="nbPhotos" type="u16">
Number of photos (does not include raw photos)
</arg>
<arg name="nbVideos" type="u16">
Number of videos
</arg>
<arg name="nbPuds" type="u16">
Number of puds
</arg>
<arg name="nbCrashLogs" type="u16">
Number of crash logs
</arg>
</cmd>
<cmd name="MassStorageContent" id="12" type="MAP_ITEM">
<comment
title="Mass storage content"
desc="Mass storage content."
support="090c:4.0.0;090e:4.0.0"
triggered="when the content of the mass storage changes."/>
<arg name="mass_storage_id" type="u8">
Mass storage id (unique)
</arg>
<arg name="nbPhotos" type="u16">
Number of photos (does not include raw photos)
</arg>
<arg name="nbVideos" type="u16">
Number of videos
</arg>
<arg name="nbPuds" type="u16">
Number of puds
</arg>
<arg name="nbCrashLogs" type="u16">
Number of crash logs
</arg>
<arg name="nbRawPhotos" type="u16">
Number of raw photos
</arg>
</cmd>
<cmd name="MassStorageContentForCurrentRun" id="13" type="MAP_ITEM">
<comment
title="Mass storage content for current run"
desc="Mass storage content for current run.\n
Only counts the files related to the current run (see [RunId](#0-30-0))"
support="090c:4.0.0;090e:4.0.0"
triggered="when the content of the mass storage changes and this content is related to the current run."/>
<arg name="mass_storage_id" type="u8">
Mass storage id (unique)
</arg>
<arg name="nbPhotos" type="u16">
Number of photos (does not include raw photos)
</arg>
<arg name="nbVideos" type="u16">
Number of videos
</arg>
<arg name="nbRawPhotos" type="u16">
Number of raw photos
</arg>
</cmd>
<cmd name="VideoRecordingTimestamp" id="14">
<comment
title="Video recording timestamp"
desc="Current or last video recording timestamp.\n
Timestamp in milliseconds since 00:00:00 UTC on 1 January 1970.\n
**Please note that values don't persist after drone reboot**"
triggered="on video recording start and video recording stop or \n
after that the date/time of the drone changed."/>
<arg name="startTimestamp" type="u64">
Timestamp in milliseconds since 00:00:00 UTC on 1 January 1970.
</arg>
<arg name="stopTimestamp" type="u64">
Timestamp in milliseconds since 00:00:00 UTC on 1 January 1970. 0 mean that video is still recording.
</arg>
</cmd>
<cmd name="CurrentDateTimeChanged" id="15">
<comment
title="Datetime changed"
desc="Both date and time changed.\n
Corresponds to the latest datetime set on the drone.\n\n
**Please note that you should not care about this event if you are using the libARController API as this library is handling the connection process for you.**"
support="0914"
triggered="by [CurrentDateTime](#0-4-4)."/>
<arg name="datetime" type="string">
Datetime with the ISO-8601 complete short format: "%Y%m%dT%H%M%S%z"
</arg>
</cmd>
<cmd name="LinkSignalQuality" id="16">
<comment
title="Link signal quality"
desc="Link signal quality. Gives a overal indication of the radio link quality"
support="0914"
triggered="when the link signal quality changes."/>
<arg name="value" type="u8">
Bits 0-3: indicate the Link signal quality. The quality varies from 1 to 5. 1 means that a disconnection is highly probable,
5 means that the link signal quality is very good.
Bit 6: 1 when there is a probable 4G interference coming from the smartphone. Zero otherwise.
Bit 7: 1 when the link signal quality is low although the radio RSSI is good. This indicate that the radio link is
perturbed by external elements. Zero otherwise.
</arg>
</cmd>
<cmd name="BootId" id="17">
<comment
title="Current Drone Boot id"
desc="Current Drone Boot id.\n
A Boot Id identifies a drone session and do not change between drone power on and power off.\n
Also, each medias contains the Boot Id."
support="0914"
triggered="At connection."/>
<arg name="bootId" type="string">
Id of the boot
</arg>
</cmd>
</class>
<class name="OverHeat" id="6">
Over heat commands
<cmd name="SwitchOff" id="0" deprecated="true">
<comment
title="Switch off after an overheat"
desc="Switch off after an overheat."
support="none"
result="None"/>
</cmd>
<cmd name="Ventilate" id="1" deprecated="true">
<comment
title="Ventilate after an overheat"
desc="Ventilate after an overheat."
support="none"
result="None"/>
</cmd>
</class>
<class name="OverHeatState" id="7">
Overheat state from product
<cmd name="OverHeatChanged" id="0" deprecated="true">
<comment
title="Overheat"
desc="Overheat temperature reached."/>
</cmd>
<cmd name="OverHeatRegulationChanged" id="1">
<comment
title="Overheat regulation type"
desc="Overheat regulation type."/>
<arg name="regulationType" type="u8">
Type of overheat regulation : 0 for ventilation, 1 for switch off
</arg>
</cmd>
</class>
<class name="Controller" id="8">
Notify the device about the state of the controller application.
<cmd name="isPiloting" id="0">
<comment
title="Inform about hud entering"
desc="Inform about hud entering.\n
Tell the drone that the controller enters/leaves the piloting hud.\n
On a non-flying products it is used to know when a run begins."
support="drones"
result="If yes, the product will begin a new session (so it should send a new [runId](#0-30-0)).\n
Also, on the JumpingSumos, if the video is in autorecord mode, it will start recording."/>
<arg name="piloting" type="u8">
0 when the application is not in the piloting HUD, 1 when it enters the HUD.
</arg>
</cmd>
<cmd name="PeerStateChanged" id="1">
<comment
title="A SDK peer has connected/disconnected"
desc="A SDK peer (ie FreeFlight) has connected/disconnected to the Skycontroller.\n
This is only meant to be sent by the Skycontroller, as it is acting as a proxy."
support="0918"
triggered="at connection and when the peer state changes."/>
<arg name="state" type="enum">
Update status
<enum name="connected">
Peer connected to Skycontroller.
</enum>
<enum name="disconnected">
Peer disconnected from Skycontroller.
</enum>
</arg>
<arg name="type" type="enum">
SDK connection type.
<enum name="unknown">
Unknown.
</enum>
<enum name="net">
Net.
</enum>
<enum name="mux">
Mux.
</enum>
</arg>
<arg name="peerName" type="string">
Peer name.
May not be available at disconnection.
</arg>
<arg name="peerId" type="string">
Peer id.
May not be available at disconnection.
</arg>
<arg name="peerType" type="string">
Peer type.
May not be available at disconnection.
</arg>
</cmd>
</class>
<class name="WifiSettings" id="9">
Wifi settings commands
<cmd name="OutdoorSetting" id="0">
<comment
title="Set wifi outdoor mode"
desc="Set wifi indoor/outdoor mode.\n
**Please note that you might be disconnected from the product after changing the indoor/outdoor setting as it changes Wifi parameters.**"
support="0901;0902;0905;0906;090c;090e"
result="The product change its indoor/outdoor wifi settings.\n
Then, it will trigger [WifiOutdoorMode](#0-10-0)."/>
<expectations>
<immediate>
#0-10-0(outdoor: this.outdoor)
</immediate>
</expectations>
<arg name="outdoor" type="u8">
1 if it should use outdoor wifi settings, 0 otherwise
</arg>
</cmd>
</class>
<class name="WifiSettingsState" id="10">
Wifi settings state from product
<cmd name="outdoorSettingsChanged" id="0">
<comment
title="Wifi outdoor mode"
desc="Wifi outdoor mode."
support="0901;0902;0905;0906;090c;090e"
triggered="by [SetWifiOutdoorMode](#0-9-0)."/>
<arg name="outdoor" type="u8">
1 if it should use outdoor wifi settings, 0 otherwise
</arg>
</cmd>
</class>
<class name="Mavlink" id="11">
Mavlink flight plans commands
<cmd name="Start" id="0">
<comment
title="Start a FlightPlan"
desc="Start a FlightPlan based on a mavlink file existing on the drone.\n\n
Requirements are:\n
* Product is calibrated\n
* Product should be in outdoor mode\n
* Product has fixed its GPS\n"
support="0901:2.0.29;090c;090e"
result="If the FlightPlan has been started, event [FlightPlanPlayingStateChanged](#0-12-0) is triggered with param state set to *playing*.\n
Otherwise, event [FlightPlanPlayingStateChanged](#0-12-0) is triggered with param state set to stopped and event [MavlinkPlayErrorStateChanged](#0-12-1) is triggered with an explanation of the error."/>
<expectations>
<immediate>
#0-12-0(state: playing, type: this.type)
</immediate>
</expectations>
<arg name="filepath" type="string">
flight plan file path from the mavlink ftp root
</arg>
<arg name="type" type="enum">
type of the played mavlink file
<enum name="flightPlan">
Mavlink file for FlightPlan
</enum>
<enum name="mapMyHouse">
Mavlink file for MapMyHouse
</enum>
</arg>
</cmd>
<cmd name="Pause" id="1">
<comment
title="Pause a FlightPlan"
desc="Pause a FlightPlan that was playing.\n
To unpause a FlightPlan, see [StartFlightPlan](#0-11-0)\n"
support="0901:2.0.29;090c;090e"
result="The currently playing FlightPlan will be paused. Then, event [FlightPlanPlayingStateChanged](#0-12-0) is triggered with param state set to the current state of the FlightPlan (should be *paused* if everything went well)."/>
<expectations>
<immediate>
#0-12-0(state: paused)
</immediate>
</expectations>
</cmd>
<cmd name="Stop" id="2">
<comment
title="Stop a FlightPlan"
desc="Stop a FlightPlan that was playing.\n"
support="0901:2.0.29;090c;090e"
result="The currently playing FlightPlan will be stopped. Then, event [FlightPlanPlayingStateChanged](#0-12-0) is triggered with param state set to the current state of the FlightPlan (should be *stopped* if everything went well)."/>
<expectations>
<immediate>
#0-12-0(state: stopped)
</immediate>
</expectations>
</cmd>
</class>
<class name="MavlinkState" id="12">
Mavlink flight plans states commands
<cmd name="MavlinkFilePlayingStateChanged" id="0">
<comment
title="Playing state of a FlightPlan"
desc="Playing state of a FlightPlan."
support="0901:2.0.29;090c;090e"
triggered="by [StartFlightPlan](#0-11-0), [PauseFlightPlan](#0-11-1) or [StopFlightPlan](#0-11-2)."/>
<arg name="state" type="enum">
State of the mavlink
<enum name="playing">
Mavlink file is playing
</enum>
<enum name="stopped">
Mavlink file is stopped (arg filepath and type are useless in this state)
</enum>
<enum name="paused">
Mavlink file is paused
</enum>
<enum name="loaded">
Mavlink file is loaded (it will be played at take-off)
</enum>
</arg>
<arg name="filepath" type="string">
flight plan file path from the mavlink ftp root
</arg>
<arg name="type" type="enum">
type of the played mavlink file
<enum name="flightPlan">
Mavlink file for FlightPlan
</enum>
<enum name="mapMyHouse">
Mavlink file for MapMyHouse
</enum>
</arg>
</cmd>
<cmd name="MavlinkPlayErrorStateChanged" id="1" deprecated="true">
<comment
title="FlightPlan error"
desc="FlightPlan error."
support="0901:2.0.29;090c;090e"
triggered="by [StartFlightPlan](#0-11-0) if an error occurs."/>
<arg name="error" type="enum">
State of play error
<enum name="none">
There is no error
</enum>
<enum name="notInOutDoorMode">
The drone is not in outdoor mode
</enum>
<enum name="gpsNotFixed">
The gps is not fixed
</enum>
<enum name="notCalibrated">
The magnetometer of the drone is not calibrated
</enum>
</arg>
</cmd>
<cmd name="MissionItemExecuted" id="2" content="NOTIFICATION">
<comment
title="Mission item executed"
desc="Mission item has been executed."
support="090c:4.2.0;090e:1.4.0"
triggered="when a mission item has been executed during a flight plan."/>
<arg name="idx" type="u32">
Index of the mission item. This is the place of the mission item in the list of the items of the mission.
Begins at 0.
</arg>
</cmd>
</class>
<class name="FlightPlanSettings" id="32">
<cmd name="ReturnHomeOnDisconnect" id="0">
<comment
title="Set ReturnHome behavior during FlightPlan"
desc="Set ReturnHome behavior during FlightPlan\n
When set, drone will return home, after return home delay, if a disconnection occurs during execution of FlightPlan"
support="0901:4.1.0;090c:4.1.0;090e:1.4.0"
result="The return home mode is enabled or disabled.\n
Then, event [ReturnHomeOnDisconnectionChanged](#0-33-0) is triggered."/>
<expectations>
<immediate>
#0-33-0(state: this.value)
</immediate>
</expectations>
<arg name="value" type="u8">
1 to enable, 0 to disable
</arg>
</cmd>
</class>
<class name="FlightPlanSettingsState" id="33">
<cmd name="ReturnHomeOnDisconnectChanged" id="0">
<comment
title="ReturnHome behavior during FlightPlan"
desc="Define behavior of drone when disconnection occurs during a flight plan"
support="0901:4.1.0;090c:4.1.0;090e:1.4.0"
triggered="by [setReturnHomeOnDisconnectMode](#0-32-0)."/>
<arg name="state" type="u8">
1 if enabled, 0 if disabled
</arg>
<arg name="isReadOnly" type="u8">
1 if readOnly, 0 if writable
</arg>
</cmd>
</class>
<class name="Calibration" id="13">
Calibration commands
<cmd name="MagnetoCalibration" id="0">
<comment
title="Start/Abort magnetometer calibration"
desc="Start or abort magnetometer calibration process.\n"
support="0901;090c;090e"
result="The magnetometer calibration process is started or aborted. Then, event [MagnetoCalibrationStartedChanged](#0-14-3) is triggered.\n
If started, event [MagnetoCalibrationStateChanged](#0-14-3) is triggered with the current calibration state: a list of all axis and their calibration states.\n
It will also trigger [MagnetoCalibrationAxisToCalibrateChanged](#0-14-2), that will inform the controller about the current axis to calibrate."/>
<expectations>
<immediate>
#0-14-3
#0-14-2
</immediate>
</expectations>
<arg name="calibrate" type="u8">
1 if the calibration should be started, 0 if it should be aborted
</arg>
</cmd>
<cmd name="PitotCalibration" id="1">
<comment
title="Start/Abort Pitot calibration"
desc="Start or abort Pitot tube calibration process.\n"
support="090e:1.1.0"
result="The pitot calibration process is started or aborted. Then, event [PitotCalibrationStateChanged](#0-14-4) is triggered with the current calibration state."/>
<expectations>
<immediate>
#0-14-4
</immediate>
</expectations>
<arg name="calibrate" type="u8">
1 if the calibration should be started, 0 if it should be aborted
</arg>
</cmd>
</class>
<class name="CalibrationState" id="14">
Status of the calibration
<cmd name="MagnetoCalibrationStateChanged" id="0">
<comment
title="Magneto calib process axis state"
desc="Magneto calib process axis state."
support="0901;090c;090e"
triggered="when the calibration process is started with [StartOrAbortMagnetoCalib](#0-13-0) and each time an axis calibration state changes."/>
<arg name="xAxisCalibration" type="u8">
State of the x axis (roll) calibration : 1 if calibration is done, 0 otherwise
</arg>
<arg name="yAxisCalibration" type="u8">
State of the y axis (pitch) calibration : 1 if calibration is done, 0 otherwise
</arg>
<arg name="zAxisCalibration" type="u8">
State of the z axis (yaw) calibration : 1 if calibration is done, 0 otherwise
</arg>
<arg name="calibrationFailed" type="u8">
1 if calibration has failed, 0 otherwise. If this arg is 1, consider all previous arg as 0
</arg>
</cmd>
<cmd name="MagnetoCalibrationRequiredState" id="1">
<comment
title="Calibration required"
desc="Calibration required."
support="0901;090c;090e"
triggered="when the calibration requirement changes."/>
<arg name="required" type="u8">
1 if calibration is required, 0 if current calibration is still valid
</arg>
</cmd>
<cmd name="MagnetoCalibrationAxisToCalibrateChanged" id="2">
<comment
title="Axis to calibrate during calibration process"
desc="Axis to calibrate during calibration process."
support="0901;090c;090e"
triggered="during the calibration process when the axis to calibrate changes."/>
<arg name="axis" type="enum">
The axis to calibrate
<enum name="xAxis">
If the current calibration axis should be the x axis
</enum>
<enum name="yAxis">
If the current calibration axis should be the y axis
</enum>
<enum name="zAxis">
If the current calibration axis should be the z axis
</enum>
<enum name="none">
If none of the axis should be calibrated
</enum>
</arg>
</cmd>
<cmd name="MagnetoCalibrationStartedChanged" id="3">
<comment
title="Calibration process state"
desc="Calibration process state."
support="0901;090c;090e"
triggered="by [StartOrAbortMagnetoCalib](#0-13-0) or when the process ends because it succeeded."/>
Status of the calibration process
<arg name="started" type="u8">
1 if calibration has started, 0 otherwise
</arg>
</cmd>
<cmd name="PitotCalibrationStateChanged" id="4">
Sent when the state of the pitot calibration has changed
<arg name="state" type="enum">
State of pitot calibration
<enum name="done">
Calibration is ok
</enum>
<enum name="ready">
Calibration is started, waiting user action
</enum>
<enum name="in_progress">
Calibration is in progress
</enum>
<enum name="required">
Calibration is required
</enum>
</arg>
<arg name="lastError" type="u8">
lastError : 1 if an error occured and 0 if not
</arg>
</cmd>
</class>
<class name="CameraSettingsState" id="15">
Status of the camera settings
<cmd name="CameraSettingsChanged" id="0">
<comment
title="Camera info"
desc="Camera info."
support="0901;090c;090e"
triggered="at connection."/>
<arg name="fov" type="float">
Value of the camera horizontal fov (in degree)
</arg>
<arg name="panMax" type="float">
Value of max pan (right pan) (in degree)
</arg>
<arg name="panMin" type="float">
Value of min pan (left pan) (in degree)
</arg>
<arg name="tiltMax" type="float">
Value of max tilt (top tilt) (in degree)
</arg>
<arg name="tiltMin" type="float">
Value of min tilt (bottom tilt) (in degree)
</arg>
</cmd>
</class>
<class name="GPS" id="16">
GPS related commands
<cmd name="ControllerPositionForRun" id="0">
<comment
title="Set the position of a run"
desc="Set the position of a run.\n
This will let the product know the controller location for the flight/run. The location is typically used to geotag medias.\n
Only used on products that have no gps.\n
Watch out, this command is not used by BLE products."
support="0902;0905;0906"
result="The position is set."/>
<arg name="latitude" type="double">
Controller latitude in decimal degrees
</arg>
<arg name="longitude" type="double">
Controller longitude in decimal degrees
</arg>
</cmd>
</class>
<class name="FlightPlanState" id="17">
FlightPlan state commands
<cmd name="AvailabilityStateChanged" id="0">
<comment
title="FlightPlan availability"
desc="FlightPlan availability.\n
Availability is linked to GPS fix, magnetometer calibration, sensor states..."
support="0901:2.0.29;090c;090e"
triggered="on change."/>
<arg name="AvailabilityState" type="u8">
Running a flightPlan file is available (1 running a flightPlan file is available, otherwise 0)
</arg>
</cmd>
<cmd name="ComponentStateListChanged" id="1" type="MAP_ITEM">
<comment
title="FlightPlan components state list"
desc="FlightPlan components state list."
support="0901:2.0.29;090c;090e"
triggered="when the state of required components changes. \n
GPS component is triggered when the availability of the GPS of the drone changes. \n
Calibration component is triggered when the calibration state of the drone sensors changes \n
Mavlink_File component is triggered when the command [StartFlightPlan](#0-11-0) is received. \n
Takeoff component is triggered when the drone needs to take-off to continue the FlightPlan. \n
WaypointsBeyondGeofence component is triggered when the command [StartFlightPlan](#0-11-0) is received."/>
<arg name="component" type="enum">
Drone FlightPlan component id (unique)
<enum name="GPS">
Drone GPS component.
State is 0 when the drone needs a GPS fix.
</enum>
<enum name="Calibration">
Drone Calibration component.
State is 0 when the sensors of the drone needs to be calibrated.
</enum>
<enum name="Mavlink_File">
Mavlink file component.
State is 0 when the mavlink file is missing or contains error.
</enum>
<enum name="TakeOff">
Drone Take off component.
State is 0 when the drone cannot take-off.
</enum>
<enum name="WaypointsBeyondGeofence">
Component for waypoints beyond the geofence.
State is 0 when one or more waypoints are beyond the geofence.
</enum>
<enum name="CameraAvailable">
Drone camera component.
State is 0 when the drone needs to wait camera availability.
</enum>
</arg>
<arg name="State" type="u8">
State of the FlightPlan component (1 FlightPlan component OK, otherwise 0)
</arg>
</cmd>
<cmd name="LockStateChanged" id="2">
<comment
title="FlightPlan lock state"
desc="FlightPlan lock state.\n
Represents the fact that the controller is able or not to stop or pause a playing FlightPlan"
support="0901:2.0.29;090c;090e"
triggered="when the lock changes."/>
<arg name="LockState" type="u8">
1 if FlightPlan is locked: can't pause or stop FlightPlan.
0 if FlightPlan is unlocked: pause or stop available.
</arg>
</cmd>
</class>
<class name="FlightPlanEvent" id="19">
FlightPlan Event commands
<cmd name="StartingErrorEvent" id="0" content="NOTIFICATION">
<comment
title="FlightPlan start error"
desc="FlightPlan start error.\n\n
**This event is a notification, you can't retrieve it in the cache of the device controller.**"
support="0901:2.0.29;090c;090e"
triggered="on an error after a [StartFlightPlan](#0-11-0)."/>
</cmd>
<cmd name="SpeedBridleEvent" id="1" content="NOTIFICATION">
<comment
title="FlightPlan speed clamping"
desc="FlightPlan speed clamping.\n
Sent when a speed specified in the FlightPlan file is considered too high by the drone.\n\n
**This event is a notification, you can't retrieve it in the cache of the device controller.**"
support="none"
triggered="on an speed related clamping after a [StartFlightPlan](#0-11-0)."/>
</cmd>
</class>
<class name="ARLibsVersionsState" id="18">
ARlibs Versions Commands
<cmd name="ControllerLibARCommandsVersion" id="0">
Controller libARCommands version
<arg name="version" type="string">
version of libARCommands ("1.2.3.4" format)
</arg>
</cmd>
<cmd name="SkyControllerLibARCommandsVersion" id="1">
SkyController libARCommands version
<arg name="version" type="string">
version of libARCommands ("1.2.3.4" format)
</arg>
</cmd>
<cmd name="DeviceLibARCommandsVersion" id="2">
Device libARCommands version
<arg name="version" type="string">
version of libARCommands ("1.2.3.4" format)
</arg>
</cmd>
</class>
<class name="Audio" id="20">
Audio-related commands.
<cmd name="ControllerReadyForStreaming" id="0">
<comment
title="Set audio stream direction"
desc="Set audio stream direction."
support="0905;0906"
result="The audio stream direction is set.\n
Then, event [AudioStreamDirection](#0-21-0) is triggered."/>
<expectations>
<immediate>
#0-21-0(running: this.ready)
</immediate>
</expectations>
<arg name="ready" type="u8">
Bit field for TX and RX ready.
bit 0 is 1 if controller is ready and wants to receive sound (Drone TX)
bit 1 is 1 if controller is ready and wants to send sound (Drone RX)
</arg>
</cmd>
</class>
<class name="AudioState" id="21">
Audio-related state updates.
<cmd name="AudioStreamingRunning" id="0">
<comment
title="Audio stream direction"
desc="Audio stream direction."
support="0905;0906"
triggered="by [SetAudioStreamDirection](#0-20-0)."/>
<arg name="running" type="u8">
Bit field for TX and RX running
bit 0 is 1 if Drone TX is running
bit 1 is 1 if Drone RX is running
</arg>
</cmd>
</class>
<class name="Headlights" id="22">
Controls the headlight LEDs of the Evo variants.
<cmd name="intensity" id="0">
<comment
title="Set LEDs intensity"
desc="Set lighting LEDs intensity."
support="0905;0906;0907"
result="The intensity of the LEDs is changed.\n
Then, event [LedIntensity](#0-23-0) is triggered."/>
<expectations>
<immediate>
#0-23-0(left: this.left , right: this.right)
</immediate>
</expectations>
<arg name="left" type="u8">
Set the left LED intensity value (0 through 255).
</arg>
<arg name="right" type="u8">
Set the right LED intensity value (0 through 255).
</arg>
</cmd>
</class>
<class name="HeadlightsState" id="23">
Get information about the state of the Evo variants' LEDs.
<cmd name="intensityChanged" id="0">
<comment
title="LEDs intensity"
desc="Lighting LEDs intensity."
support="0905;0906;0907"
triggered="by [SetLedsIntensity](#0-22-0)."/>
<arg name="left" type="u8">
The intensity value for the left LED (0 through 255).
</arg>
<arg name="right" type="u8">
The intensity value for the right LED (0 through 255).
</arg>
</cmd>
</class>
<class name="Animations" id="24">
Animations-related commands.
<cmd name="StartAnimation" id="0">
<comment
title="Start an animation"
desc="Start a paramaterless animation.\n
List of available animations can be retrieved from [AnimationsStateList](#0-25-0)."
support="0902;0905;0906;0907;0909"
result="If possible, the product starts the requested animation. Then, event [AnimationsStateList](#0-25-0) is triggered."/>
<expectations>
<immediate>
#0-25-0(anim: this.anim)
</immediate>
</expectations>
<arg name="anim" type="enum">
Animation to start.
<enum name="HEADLIGHTS_FLASH">
Flash headlights.
</enum>
<enum name="HEADLIGHTS_BLINK">
Blink headlights.
</enum>
<enum name="HEADLIGHTS_OSCILLATION">
Oscillating headlights.
</enum>
<enum name="SPIN">
Spin animation.
</enum>
<enum name="TAP">
Tap animation.
</enum>
<enum name="SLOW_SHAKE">
Slow shake animation.
</enum>
<enum name="METRONOME">
Metronome animation.
</enum>
<enum name="ONDULATION">
Standing dance animation.
</enum>
<enum name="SPIN_JUMP">
Spin jump animation.
</enum>
<enum name="SPIN_TO_POSTURE">
Spin that end in standing posture, or in jumper if it was standing animation.
</enum>
<enum name="SPIRAL">
Spiral animation.
</enum>
<enum name="SLALOM">
Slalom animation.
</enum>
<enum name="BOOST">
Boost animation.
</enum>
<enum name="LOOPING">
Make a looping. (Only for WingX)
</enum>
<enum name="BARREL_ROLL_180_RIGHT">
Make a barrel roll of 180 degree turning on right. (Only for WingX)
</enum>
<enum name="BARREL_ROLL_180_LEFT">
Make a barrel roll of 180 degree turning on left. (Only for WingX)
</enum>
<enum name="BACKSWAP">
Put the drone upside down. (Only for WingX)
</enum>
</arg>
</cmd>
<cmd name="StopAnimation" id="1">
<comment
title="Stop an animation"
desc="Stop a paramaterless animation.\n
List of running animations can be retrieved from [AnimationsStateList](#0-25-0)."
support="0902;0905;0906;0907;0909"
result="If the requested animation was running, it will be stopped.\n
Then, event [AnimationsStateList](#0-25-0) is triggered."/>
<expectations>
<immediate>
#0-25-0
</immediate>
</expectations>
<arg name="anim" type="enum">
Animation to stop.
<enum name="HEADLIGHTS_FLASH">
Flash headlights.
</enum>
<enum name="HEADLIGHTS_BLINK">
Blink headlights.
</enum>
<enum name="HEADLIGHTS_OSCILLATION">
Oscillating headlights.
</enum>
<enum name="SPIN">
Spin animation.
</enum>
<enum name="TAP">
Tap animation.
</enum>
<enum name="SLOW_SHAKE">
Slow shake animation.
</enum>
<enum name="METRONOME">
Metronome animation.
</enum>
<enum name="ONDULATION">
Standing dance animation.
</enum>
<enum name="SPIN_JUMP">
Spin jump animation.
</enum>
<enum name="SPIN_TO_POSTURE">
Spin that end in standing posture, or in jumper if it was standing animation.
</enum>
<enum name="SPIRAL">
Spiral animation.
</enum>
<enum name="SLALOM">
Slalom animation.
</enum>
<enum name="BOOST">
Boost animation.
</enum>
<enum name="LOOPING">
Make a looping. (Only for WingX)
</enum>
<enum name="BARREL_ROLL_180_RIGHT">
Make a barrel roll of 180 degree turning on right. (Only for WingX)
</enum>
<enum name="BARREL_ROLL_180_LEFT">
Make a barrel roll of 180 degree turning on left. (Only for WingX)
</enum>
<enum name="BACKSWAP">
Put the drone upside down. (Only for WingX)
</enum>
</arg>
</cmd>
<cmd name="StopAllAnimations" id="2">
<comment
title="Stop all animations"
desc="Stop all running paramaterless animations.\n
List of running animations can be retrieved from [AnimationsStateList](#0-25-0)."
support="0902;0905;0906;0907;0909"
result="All running animations are stopped.\n
Then, event [AnimationsStateList](#0-25-0) is triggered."/>
<expectations>
<immediate>
#0-25-0
</immediate>
</expectations>
</cmd>
</class>
<class name="AnimationsState" id="25">
Animations-related notification/feedback commands.
<cmd name="List" type="MAP_ITEM" id="0">
<comment
title="Animation state list"
desc="Paramaterless animations state list."
support="0902;0905;0906;0907;0909"
triggered="when the list of available animations changes and also when an animation state changes (can be triggered by [StartAnim](#0-24-0), [StopAnim](#0-24-1) or [StopAllAnims](#0-24-2)."/>
<arg name="anim" type="enum">
Animation type.
<enum name="HEADLIGHTS_FLASH">
Flash headlights.
</enum>
<enum name="HEADLIGHTS_BLINK">
Blink headlights.
</enum>
<enum name="HEADLIGHTS_OSCILLATION">
Oscillating headlights.
</enum>
<enum name="SPIN">
Spin animation.
</enum>
<enum name="TAP">
Tap animation.
</enum>
<enum name="SLOW_SHAKE">
Slow shake animation.
</enum>
<enum name="METRONOME">
Metronome animation.
</enum>
<enum name="ONDULATION">
Standing dance animation.
</enum>
<enum name="SPIN_JUMP">
Spin jump animation.
</enum>
<enum name="SPIN_TO_POSTURE">
Spin that end in standing posture, or in jumper if it was standing animation.
</enum>
<enum name="SPIRAL">
Spiral animation.
</enum>
<enum name="SLALOM">
Slalom animation.
</enum>
<enum name="BOOST">
Boost animation.
</enum>
<enum name="LOOPING">
Make a looping. (Only for WingX)
</enum>
<enum name="BARREL_ROLL_180_RIGHT">
Make a barrel roll of 180 degree turning on right. (Only for WingX)
</enum>
<enum name="BARREL_ROLL_180_LEFT">
Make a barrel roll of 180 degree turning on left. (Only for WingX)
</enum>
<enum name="BACKSWAP">
Put the drone upside down. (Only for WingX)
</enum>
</arg>
<arg name="state" type="enum">
State of the animation
<enum name="stopped">
animation is stopped
</enum>
<enum name="started">
animation is started
</enum>
<enum name="notAvailable">
The animation 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>
</arg>
</cmd>
</class>
<class name="Accessory" id="26">
Accessories-related commands.
<cmd name="Config" id="0">
<comment
title="Declare an accessory"
desc="Declare an accessory.\n
You can choose the accessory between all accessible for this product.\n
You can get this list through event [SupportedAccessories](#0-27-0).\n\n
You can only set the accessory when the modification is enabled.\n
You can know if it possible with the event [AccessoryDeclarationAvailability](#0-27-2)."
support="0902;0905;0906;0907;0909;090a"
result="The product knows which accessory it is wearing.\n
Then, event [AccessoryConfigChanged](#0-27-1) is triggered."/>
<expectations>
<immediate>
#0-27-1(accessory: this.accessory)
</immediate>
</expectations>
<arg name="accessory" type="enum">
Accessory configuration to set.
<enum name="NO_ACCESSORY">
No accessory.
</enum>
<enum name="STD_WHEELS">
Standard wheels
</enum>
<enum name="TRUCK_WHEELS">
Truck wheels
</enum>
<enum name="HULL">
Hull
</enum>
<enum name="HYDROFOIL">
Hydrofoil
</enum>
</arg>
</cmd>
</class>
<class name="AccessoryState" id="27">
Accessories-related commands.
<cmd name="SupportedAccessoriesListChanged" id="0" type="MAP_ITEM">
<comment
title="Supported accessories list"
desc="Supported accessories list."
support="0902;0905;0906;0907;0909;090a"
triggered="at connection."/>
<arg name="accessory" type="enum">
Accessory configurations supported by the product.
<enum name="NO_ACCESSORY">
No accessory.
</enum>
<enum name="STD_WHEELS">
Standard wheels
</enum>
<enum name="TRUCK_WHEELS">
Truck wheels
</enum>
<enum name="HULL">
Hull
</enum>
<enum name="HYDROFOIL">
Hydrofoil
</enum>
</arg>
</cmd>
<cmd name="AccessoryConfigChanged" id="1">
<comment
title="Accessory config"
desc="Accessory config."
support="0902;0905;0906;0907;0909;090a"
triggered="by [DeclareAccessory](#0-26-0)."/>
Accessory config response.
<arg name="newAccessory" type="enum">
Accessory configuration reported by firmware.
<enum name="UNCONFIGURED">
No accessory configuration set. Controller needs to set one.
</enum>
<enum name="NO_ACCESSORY">
No accessory.
</enum>
<enum name="STD_WHEELS">
Standard wheels
</enum>
<enum name="TRUCK_WHEELS">
Truck wheels
</enum>
<enum name="HULL">
Hull
</enum>
<enum name="HYDROFOIL">
Hydrofoil
</enum>
<enum name="IN_PROGRESS">
Configuration in progress.
</enum>
</arg>
<arg name="error" type="enum">
Error code.
<enum name="OK">
No error. Accessory config change successful.
</enum>
<enum name="UNKNOWN">
Cannot change accessory configuration for some reason.
</enum>
<enum name="FLYING">
Cannot change accessory configuration while flying.
</enum>
</arg>
</cmd>
<cmd name="AccessoryConfigModificationEnabled" id="2">
<comment
title="Accessory declaration availability"
desc="Availability to declare or not an accessory."
support="0902;0905;0906;0907;0909;090a"
triggered="when the availability changes."/>
<arg name="enabled" type="u8">
1 if the modification of the accessory Config is enabled, 0 otherwise
</arg>
</cmd>
</class>
<class name="Charger" id="28">
Commands sent by the controller to set charger parameters.
<cmd name="SetMaxChargeRate" id="0" deprecated="true">
<comment
title="Set max charge rate"
desc="The product will inform itself the controller about its charging type (see [ChargingInfoChanged](#0-29-3))."
support="none"
result="None."/>
<arg name="rate" type="enum">
The new maximum charge rate.
<enum name="SLOW">
Fully charge the battery at a slow rate. Typically limit max charge current to 512 mA.
</enum>
<enum name="MODERATE">
Almost fully-charge the battery at moderate rate (> 512mA) but slower than the fastest rate.
</enum>
<enum name="FAST">
Almost fully-charge the battery at the highest possible rate supported by the charger.
</enum>
</arg>
</cmd>
</class>
<class name="ChargerState" id="29">
Commands sent by the firmware to advertise the charger status.
<cmd name="MaxChargeRateChanged" id="0" deprecated="true">
<comment
title="Max charge rate"
desc="Max charge rate."/>
<arg name="rate" type="enum">
The current maximum charge rate.
<enum name="SLOW">
Fully charge the battery at a slow rate. Typically limit max charge current to 512 mA.
</enum>
<enum name="MODERATE">
Almost fully-charge the battery at moderate rate (> 512 mA) but slower than the fastest rate.
</enum>
<enum name="FAST">
Almost fully-charge the battery at the highest possible rate supported by the charger.
</enum>
</arg>
</cmd>
<cmd name="CurrentChargeStateChanged" id="1" deprecated="true">
<comment
title="Current charge state"
desc="Current charge state."/>
<arg name="status" type="enum">
Charger status.
<enum name="DISCHARGING">
The battery is discharging.
</enum>
<enum name="CHARGING_SLOW">
The battery is charging at a slow rate about 512 mA.
</enum>
<enum name="CHARGING_MODERATE">
The battery is charging at a moderate rate (> 512 mA) but slower than the fastest rate.
</enum>
<enum name="CHARGING_FAST">
The battery is charging at a the fastest rate.
</enum>
<enum name="BATTERY_FULL">
The charger is plugged and the battery is fully charged.
</enum>
</arg>
<arg name="phase" type="enum">
The current charging phase.
<enum name="UNKNOWN">
The charge phase is unknown or irrelevant.
</enum>
<enum name="CONSTANT_CURRENT_1">
First phase of the charging process. The battery is charging with constant current.
</enum>
<enum name="CONSTANT_CURRENT_2">
Second phase of the charging process. The battery is charging with constant current, with a higher voltage than the first phase.
</enum>
<enum name="CONSTANT_VOLTAGE">
Last part of the charging process. The battery is charging with a constant voltage.
</enum>
<enum name="CHARGED">
The battery is fully charged.
</enum>
</arg>
</cmd>
<cmd name="LastChargeRateChanged" id="2" deprecated="true">
<comment
title="Last charge rate"
desc="Last charge rate."/>
<arg name="rate" type="enum">
The charge rate recorded by the firmware for the last charge.
<enum name="UNKNOWN">
The last charge rate is not known.
</enum>
<enum name="SLOW">
Slow charge rate.
</enum>
<enum name="MODERATE">
Moderate charge rate.
</enum>
<enum name="FAST">
Fast charge rate.
</enum>
</arg>
</cmd>
<cmd name="ChargingInfo" id="3">
<comment
title="Charging information"
desc="Charging information."
support="0905;0906;0907;0909;090a"
triggered="when the product is charging or when the charging state changes."/>
<arg name="phase" type="enum">
The current charging phase.
<enum name="UNKNOWN">
The charge phase is unknown or irrelevant.
</enum>
<enum name="CONSTANT_CURRENT_1">
First phase of the charging process. The battery is charging with constant current.
</enum>
<enum name="CONSTANT_CURRENT_2">
Second phase of the charging process. The battery is charging with constant current, with a higher voltage than the first phase.
</enum>
<enum name="CONSTANT_VOLTAGE">
Last part of the charging process. The battery is charging with a constant voltage.
</enum>
<enum name="CHARGED">
The battery is fully charged.
</enum>
<enum name="DISCHARGING">
The battery is discharging; Other arguments refers to the last charge.
</enum>
</arg>
<arg name="rate" type="enum">
The charge rate. If phase is DISCHARGING, refers to the last charge.
<enum name="UNKNOWN">
The charge rate is not known.
</enum>
<enum name="SLOW">
Slow charge rate.
</enum>
<enum name="MODERATE">
Moderate charge rate.
</enum>
<enum name="FAST">
Fast charge rate.
</enum>
</arg>
<arg name="intensity" type="u8">
The charging intensity, in dA. (12dA = 1,2A) ; If phase is DISCHARGING, refers to the last charge. Equals to 0 if not known.
</arg>
<arg name="fullChargingTime" type="u8">
The full charging time estimated, in minute. If phase is DISCHARGING, refers to the last charge. Equals to 0 if not known.
</arg>
</cmd>
</class>
<class name="RunState" id="30">
Commands sent by the drone to inform about the run or flight state
<cmd name="RunIdChanged" id="0">
<comment
title="Current run id"
desc="Current run id.\n
A run id is uniquely identifying a run or a flight.\n
For each run is generated on the drone a file which can be used by Academy to sum up the run.\n
Also, each medias taken during a run has a filename containing the run id."
support="0901:3.0.1;090c;090e"
triggered="when the drone generates a new run id (generally right after a take off)."/>
<arg name="runId" type="string">
Id of the run
</arg>
</cmd>
</class>
<class name="Factory" id="31">
Factory reset commands
<cmd name="Reset" id="0">
<comment
title="Reset the product to its factory settings"
desc="This command will request a factory reset from the
prodcut. *The factory reset procedure implies an
automatic reboot*, which will be done immediately after
receiving this command."
result="The product will reboot, all settings will be
reset to their default values. All data on the product
will also be erased."/>
</cmd>
</class>
<class name="UpdateState" id="34">
Update related commands
<cmd name="UpdateStateChanged" id="0">
<comment
title="Software update status"
desc="Status of the latest software update"
support="0914"
triggered="at connection during the first boot after a firmware update."/>
<arg name="sourceVersion" type="string">
Version before the update.
</arg>
<arg name="targetVersion" type="string">
Target version of the latest update. This is the version after the update when `status` is `SUCCESS` or
the version of the update that failed when `status` is one of the failure value.
</arg>
<arg name="status" type="enum">
Update status
<enum name="SUCCESS">
Update completed successfully.
</enum>
<enum name="FAILURE_BAD_FILE">
Failure, wrong or corrupted update file.
</enum>
<enum name="FAILURE_BAT_LEVEL_TOO_LOW">
Failure, battery level was too low.
</enum>
<enum name="FAILURE">
Generic Failure.
</enum>
</arg>
</cmd>
</class>
</project>
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