Step, wind and mission fields

These are the objects some tools take as arguments. Unknown fields are refused, so a typo fails at once rather than being ignored. All of them are read from the pydantic models in mcardupilot.models.

StepModel

One step of a fly_steps program: instant actions applied in the tick the step starts, then one wait. The next step starts in the tick this one settles.

Field	Type	Default	Meaning
`label`	`str \| None`	`None`	a name for the step in the results
`rc`	`dict[int, int] \| None`	`None`	RC override to set as the step starts, channel (1 to 8) to PWM (800 to 2200), e.g. {3: 2000}; held until a later step or call changes it
`mode`	`str \| None`	`None`	flight mode to request as the step starts, sent once and not confirmed: wait on until mode to verify it
`speedup`	`float \| None`	`None`	SIM_SPEEDUP to set as the step starts, 0.05 to 50
`params`	`dict[str, float] \| None`	`None`	parameters to set as the step starts, fire and forget
`wind`	`WindModel \| None`	`None`	wind to set as the step starts (a gust front, a calm)
`until`	`"altitude" \| "airspeed" \| "mode" \| "armed" \| "disarmed" \| "text" \| "waypoint" \| "time" \| "sim_time" \| "landed" \| None`	`None`	the condition that ends the step, as in `wait_until`; omit it and the step ends in the tick its actions apply
`value`	`float \| str \| None`	`None`	the number, mode name or text the condition waits for
`op`	`">=" \| "<=" \| "=="`	`">="`	comparison for numeric conditions
`timeout_s`	`float \| None`	`None`	sim seconds from the step's start before reason timeout (at most 3600); default 60, or the wait plus 60 for time and relative sim_time
`relative`	`bool`	`False`	sim_time only: value is seconds after the tick this step started, which is the tick the previous step settled
`on_timeout`	`"stop" \| "continue"`	`"stop"`	on timeout, stop the program (failed) or go on

Rules the server checks before anything runs, so one bad step rejects the whole program and names its index:

A program has 1 to 100 steps. A step’s timeout_s is at most 3600 sim seconds.
Channels are 1 to 8 and PWM 800 to 2200. speedup is 0.05 to 50.
Mode names, in mode and in until: "mode", are checked against the vehicle’s mode table, so a typo fails instead of waiting out its timeout.
Numeric conditions (altitude, airspeed, waypoint, time, sim_time) need a value; mode and text need a non-empty one.
relative applies to sim_time only. For time and relative sim_time, the default timeout is the wait plus 60 s, and a timeout shorter than the wait is refused.

StepResult

One settled step, as fly_steps, steps_status and abort_steps return it.

Field	Type	Meaning
`index`	`int`	the step's position in the program, from 0
`label`	`str \| None`
`reason`	`str`	met; timeout; died (SITL died, see snapshot.error); aborted (`abort_steps`, `close_sitl`, or an internal error named in the program's error)
`t_start_s`	`float \| None`	sim time the step's actions applied; None if it never started
`t_end_s`	`float`	sim time the step settled
`snapshot`	`Snapshot`	taken in the tick the step settled

StepsResult

Field	Type	Meaning
`status`	`"running" \| "done" \| "failed" \| "aborted"`	running (follow it with `steps_status`); done (every step settled, timeouts with on_timeout continue included); failed (a step timed out with on_timeout stop, or SITL died); aborted (`abort_steps` or `close_sitl`)
`current`	`int \| None`	index of the running step; None when finished
`steps`	`list[StepResult]`	results of the steps settled so far
`error`	`str \| None`	why the program failed, if it did

WindModel

The wind for set_wind, open_sitl(wind=...) and a step’s wind action. Ranges the server enforces: speed_mps 0 to 60, up_mps -20 to 20, scale above 0 and at most 5. {"speed_mps": 0} stops the wind.

Field	Type	Default	Meaning
`speed_mps`	`float`	`0`	mean horizontal wind, 0 to 60 m/s
`from_deg`	`float`	`0`	the direction it blows from, degrees
`up_mps`	`float`	`0`	mean vertical wind, up positive
`gusts`	`"off" \| "dryden" \| "sitl"`	`"off"`	off: steady; dryden: MIL-F-8785C gusts from height and airspeed, sigma_w 0.1 x the mean wind; sitl: SITL's own SIM_WIND_TURB (near-white noise)
`scale`	`float`	`1`	multiplies the gust strength, up to 5
`seed`	`int \| None`	`None`	repeat the same gusts in another flight (same sim ticks)
`method`	`"exact" \| "euler"`	`"exact"`	the Dryden update; euler reproduces runs made before the exact update

With gusts: "sitl" the server sets SITL’s own SIM_WIND_TURB to 0.1 × speed_mps × scale. With dryden it sets SIM_WIND_TURB to 0 and sends the sum of mean wind and gust as SIM_WIND_SPD, SIM_WIND_DIR and SIM_WIND_DIR_Z. How the gusts are made.

MissionItem

One item for upload_mission, positioned in metres from home. Home goes in as item 0, so items[i] becomes mission item i + 1. Navigation commands get a position; DO_ commands ignore north_m and east_m.

Field	Type	Default	Meaning
`cmd`	`int \| str`	required	MAV_CMD number or name: "NAV_WAYPOINT", "NAV_VTOL_TAKEOFF", "NAV_VTOL_LAND", "NAV_LOITER_TIME", "DO_CHANGE_SPEED", ... ("MAV_CMD_" optional)
`north_m`	`float`	`0`
`east_m`	`float`	`0`
`alt_m`	`float`	`0`	above home
`params`	`list[float]`	`[]`	param1 to param4
`tag`	`str`	`""`

upload_mission(session_id, items=[
    {"cmd": "NAV_VTOL_TAKEOFF", "alt_m": 40, "tag": "takeoff"},
    {"cmd": "NAV_WAYPOINT", "north_m": 400, "alt_m": 60},
    {"cmd": "NAV_WAYPOINT", "north_m": 400, "east_m": 400, "alt_m": 60},
    {"cmd": "NAV_VTOL_LAND", "tag": "land"},
])