feat(mavlink): adopt the kaptan-native dialect
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Onur Özkan committed
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<?xml version="1.0"?>
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<mavlink>
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<version>3</version>
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<dialect>0</dialect>
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<messages>
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<message id="51021" name="ERROR">
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<description>Reportable firmware error emitted when an Err leaves an annotated reporting point. This is distinct from every logging macro, which emits LOG. The stable ID is explicitly assigned to the Rust error variant. Protocol failures remain authoritative in their owning response.</description>
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<field type="uint16_t" name="error_id">Stable explicitly assigned error catalog ID. Zero is reserved.</field>
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<field type="uint8_t[96]" name="raised_at">Zero-padded compile-time file:line of the reporting point.</field>
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</message>
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</messages>
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</mavlink>
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<?xml version="1.0"?>
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<mavlink>
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<version>3</version>
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<dialect>0</dialect>
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<enums>
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<enum name="HEARTBEAT_STATE">
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<entry value="1" name="HEARTBEAT_STATE_INITIALIZED_OUTPUTS_INHIBITED">
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<description>Initialization completed and the physical output routes remain inhibited.</description>
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</entry>
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</enum>
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</enums>
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<messages>
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<message id="51027" name="HEARTBEAT">
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<description>Periodic liveness and discovery publication for the initialized output-inhibited firmware composition.</description>
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<field type="uint8_t" name="state" enum="HEARTBEAT_STATE"/>
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</message>
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</messages>
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</mavlink>
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<?xml version="1.0"?>
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<mavlink>
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<version>3</version>
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<dialect>0</dialect>
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<messages>
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<message id="51028" name="IMU">
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<description>One accepted body-frame inertial observation in the native bounded sensor representation.</description>
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<field type="uint64_t" name="time_us">Flight-controller monotonic acquisition time in microseconds.</field>
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<field type="int16_t[3]" name="acceleration_milligravity">Body-frame acceleration in milligravity.</field>
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<field type="int16_t[3]" name="angular_rate_milliradians_per_second">Body-frame angular rate in milliradians per second.</field>
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<field type="int16_t" name="temperature_centidegrees_celsius">Sensor temperature in centidegrees Celsius.</field>
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</message>
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</messages>
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</mavlink>
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<?xml version="1.0"?>
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<mavlink>
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<version>3</version>
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<dialect>0</dialect>
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<enums>
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<enum name="LOG_LEVEL">
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<entry value="0" name="LOG_LEVEL_OFF">
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<description>Filter-only sentinel. A LOG event must not use this value.</description>
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</entry>
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<entry value="1" name="LOG_LEVEL_TRACE"/>
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<entry value="2" name="LOG_LEVEL_DEBUG"/>
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<entry value="3" name="LOG_LEVEL_INFO"/>
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<entry value="4" name="LOG_LEVEL_WARN"/>
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<entry value="5" name="LOG_LEVEL_ERROR"/>
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</enum>
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<enum name="LOG_FLAGS" bitmask="true">
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<entry value="1" name="LOG_FLAG_TRUNCATED">
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<description>Message text was truncated to the bounded on-wire buffer.</description>
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</entry>
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</enum>
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</enums>
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<messages>
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<message id="51020" name="LOG">
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<description>Bounded human-readable runtime log emitted by every Kaptan logging macro, including error. The receiver needs only level, flags, and the valid UTF-8 text prefix. MAVLink framing, bounded admission, DMA, and retries remain platform-owned.</description>
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<field type="uint8_t" name="level" enum="LOG_LEVEL">Kaptan wire level.</field>
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<field type="uint8_t" name="flags" enum="LOG_FLAGS">TRUNCATED=1. Receivers ignore unrecognized bits.</field>
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<field type="uint8_t" name="message_length">Number of valid UTF-8 bytes in message; at most 160.</field>
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<field type="uint8_t[160]" name="message">Bounded UTF-8 message bytes. Bytes after message_length are zero.</field>
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</message>
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</messages>
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</mavlink>
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<?xml version="1.0"?>
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<mavlink>
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<version>3</version>
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<dialect>0</dialect>
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<messages>
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<message id="51030" name="OPTICAL_FLOW">
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<description>One accepted ground-referenced optical-flow observation from the board's selected vertical sensor route.</description>
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<field type="uint64_t" name="time_us">Flight-controller monotonic reception time in microseconds.</field>
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<field type="int32_t[2]" name="velocity_millimetres_per_second">Ground-referenced sensor-frame X/Y velocity in millimetres per second.</field>
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<field type="uint32_t" name="ground_distance_millimetres">Ground distance in millimetres.</field>
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<field type="uint8_t" name="quality">Device-reported observation quality.</field>
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</message>
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</messages>
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</mavlink>
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@@ -0,0 +1,12 @@
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<?xml version="1.0"?>
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<mavlink>
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<version>3</version>
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<dialect>0</dialect>
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<messages>
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<message id="51029" name="RANGE">
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<description>One accepted downward range observation from the board's selected vertical sensor route.</description>
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<field type="uint64_t" name="time_us">Flight-controller monotonic measurement-request time in microseconds.</field>
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<field type="uint32_t" name="distance_millimetres">Measured downward distance in millimetres.</field>
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</message>
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</messages>
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</mavlink>
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